diff --git a/reports/dual_push_full_arch_probe_iter6_scene_ep1/summary.json b/reports/dual_push_full_arch_probe_iter6_scene_ep1/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a5e2a4020857a6c0c1f867ae441ff152fb64b3
--- /dev/null
+++ b/reports/dual_push_full_arch_probe_iter6_scene_ep1/summary.json
@@ -0,0 +1,45 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt",
+  "feature_source": "scene",
+  "position_source": "vision",
+  "episodes": 1,
+  "episode_length": 120,
+  "train_episodes": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19
+  ],
+  "arm_mode": "planning",
+  "mean_success": 1.0,
+  "mean_return": 1.0,
+  "results": [
+    {
+      "episode": 0,
+      "language_goal": "push the olive and the orange buttons",
+      "retrieved_episode_index": 11,
+      "similarity": 0.9998629689216614,
+      "steps": 94,
+      "success": 1.0,
+      "return": 1.0,
+      "min_scale": 1.0,
+      "error": null
+    }
+  ]
+}
\ No newline at end of file
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a728c113c22d156317a29d76f521b5703da9183b
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_dual_push_buttons --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28d44fe0ebbaf50c6997a93240788ec4e4cc04a4
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualDualPushButtons",
+  "description": "push the olive and the orange buttons",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1097997bedab5fd569f3ea63eb7fe1444a8c37e
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..13d371011df9418bee1a5f1b94d2654572894907
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualHandoverItem",
+  "description": "bring me the red item",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7355d431868290c1d7fa1648384f23245bad2e4
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item_easy --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f9d3c1e7ca5d87a57edd5d0bd8914558037614b
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualHandoverItemEasy",
+  "description": "bring me the item",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b469763faaf25b322b37dd0b6b3fa788a4c6fa9
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_ball --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6339602138f0992a15c39e7904e293bdfe1bdd62
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualLiftBall",
+  "description": "Lift the ball",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2de31091a7209f2ce30537210dc184e5ca7052e6
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_tray --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..416e0e36b8378f5691255806da0037b4eb822738
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualLiftTray",
+  "description": "Lift the tray",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddecb81725bdb853688f500fb9b12b6b4e8bdfd7
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_laptop --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26b8f13f5acad936f90b06d6688c82ec60244baa
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPickLaptop",
+  "description": "pick up the laptop",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e168a9df1d2b6f84d4a585c736e20f1a6d7a2014
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_plate --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48774aec4da572b37f528e7e75113b41f6261232
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPickPlate",
+  "description": "pick up the plate",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..328737b7efe0e6babbef31ddd7e79119fd9e9eb3
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_push_box --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5e207a5132ae70695dcce13fec5547a4b2c1b99
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPushBox",
+  "description": "push the box to the red area",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3638f874c1bb56234f6728e59da6db7d61c9f5be
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_bottle_in_fridge --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2a40ca618fe3319e0b1c76f7a29f78315887a51
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt
@@ -0,0 +1,39 @@
+[ 0.05       -0.27500001  0.75199997]
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPutBottleInFridge",
+  "description": "put bottle in fridge",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bae6bc8478301ecfde6369a85ed53eea023b63f3
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_item_in_drawer --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe04aee2d7d2e09f8b593877dcddbe9bc07f7c
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt
@@ -0,0 +1,7 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51c84d886cce725ed1843d955040da6e23454d6b
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPutItemInDrawer",
+  "description": "put the item in the bottom drawer",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20cc9c2dba9687ef498ce2f3cda18664c88b5eb3
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_straighten_rope --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22ea3a1952b6905754fe409a07a9207f75568f09
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt
@@ -0,0 +1,5 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_straighten_rope. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60edb34aff776cb8d9b60bed8ef6cad346e68307
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualStraightenRope",
+  "description": "straighten rope",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..04b0c82b7ab0818bba30fb5b08dcf4412b1c0748
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_sweep_to_dustpan --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt
@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82c6677e7f5d6907c112dd5229efa57057100267
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualSweepToDustpan",
+  "description": "sweep dirt to dustpan",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..837597dcc586a5b31d64a99d0bf5bfb51649b976
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_take_tray_out_of_oven --resolution 224 --headless
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..098beb4f5cf6afd48492b22fd01eefb1841a563a
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt
@@ -0,0 +1,7 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
diff --git a/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9775a456db4e41e439005d6d7fb844390c5a023d
--- /dev/null
+++ b/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt
@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualTakeTrayOutOfOven",
+  "description": "take tray out of oven",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/true_baseline_compare_subset3_v1/anybimanual_live_subset3_ep1.log b/reports/true_baseline_compare_subset3_v1/anybimanual_live_subset3_ep1.log
new file mode 100644
index 0000000000000000000000000000000000000000..1440ba25828c9a8d7e2b1c858b7ad74966132aa4
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/anybimanual_live_subset3_ep1.log
@@ -0,0 +1,211 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+[2026-03-30 01:05:41,243][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf+ab
+  tasks:
+  - coordinated_push_box
+  - coordinated_lift_ball
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/baselines/AnyBimanual_evalroot
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 1
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-03-30 01:05:41,254][root][INFO] - Using env device cuda:0.
+[2026-03-30 01:05:41,265][root][INFO] - Evaluating seed 0.
+[2026-03-30 01:05:41,265][root][INFO] - Using method PERACT_BC with type leader_follower
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+Weight: [60000]
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+[03/30/26 01:06:23] INFO     INFO:root:eval_env:  _independent_env_runner.py:130
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:133
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:134
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x7f021882d6f0>                                    
+[03/30/26 01:06:27] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:164
+                             weight 60000                                       
+loaded weights from /workspace/baselines/AnyBimanual_evalroot/perlf+ab/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/baselines/AnyBimanual_evalroot/perlf+ab/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+
Tasks:   0%|          | 0/3 [00:00<?, ?it/s]
+
Episodes:   0%|          | 0/1 [00:00<?, ?it/s][03/30/26 01:06:29] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+[03/30/26 01:07:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
+                             left=2)                                            
+/workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.)
+  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
+
+
Episodes: 100%|██████████| 1/1 [01:03<00:00, 63.11s/it]
Episodes: 100%|██████████| 1/1 [01:03<00:00, 63.11s/it]
+
Tasks:  33%|███▎      | 1/3 [01:03<02:06, 63.12s/it]Evaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area
+Finished coordinated_push_box | Final Score: unknown
+
+
+
Episodes:   0%|          | 0/1 [00:00<?, ?it/s][03/30/26 01:07:32] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+[03/30/26 01:08:08] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
+                             left=4)                                            
+
+
Episodes: 100%|██████████| 1/1 [01:14<00:00, 74.16s/it]
Episodes: 100%|██████████| 1/1 [01:14<00:00, 74.16s/it]
+
Tasks:  67%|██████▋   | 2/3 [02:17<01:09, 69.80s/it]Evaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball
+Finished coordinated_lift_ball | Final Score: 0.0
+
+add_video needs package moviepy
+
+
Episodes:   0%|          | 0/1 [00:00<?, ?it/s][03/30/26 01:08:47] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+[03/30/26 01:09:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
+                             left=2)                                            
+
+
Episodes: 100%|██████████| 1/1 [00:41<00:00, 41.22s/it]
Episodes: 100%|██████████| 1/1 [00:41<00:00, 41.22s/it]
+
Tasks: 100%|██████████| 3/3 [02:58<00:00, 56.75s/it]
Tasks: 100%|██████████| 3/3 [02:58<00:00, 59.60s/it]
+Evaluating dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+Finished dual_push_buttons | Final Score: unknown
+
+[03/30/26 01:09:28] INFO     INFO:root:Finished   _independent_env_runner.py:292
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.
+[W330 01:09:37.214689113 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
diff --git a/reports/true_baseline_compare_subset3_v1/pipeline.log b/reports/true_baseline_compare_subset3_v1/pipeline.log
new file mode 100644
index 0000000000000000000000000000000000000000..28a0e197e1adb468058307a86256b95615f1a134
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/pipeline.log
@@ -0,0 +1,7 @@
+[wait] waiting for full subset3 train split in /workspace/data/rlbench2_subset3
+[baseline] wiring AnyBimanual demo root onto subset3 data
+[baseline] AnyBimanual live sanity on overlap subset
+[train] backbone fair 100-demo subset3
+[eval] backbone fair 100-demo subset3
+[train] elastic proxy-init fair 100-demo subset3
+[eval] elastic proxy-init fair 100-demo subset3
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_eval.log b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..a3ad9f7dbde2eb2b23c9554e57572a8aa873fc6b
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_eval.log
@@ -0,0 +1,12 @@
+[peract2-sweep] running task=bimanual_push_box plan=False
+[peract2-sweep] running task=bimanual_lift_ball plan=False
+[peract2-sweep] running task=bimanual_dual_push_buttons plan=False
+[peract2-sweep] running task=bimanual_push_box plan=True
+[peract2-sweep] running task=bimanual_lift_ball plan=True
+[peract2-sweep] running task=bimanual_dual_push_buttons plan=True
+{
+  "generated": [
+    "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.json",
+    "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.json"
+  ]
+}
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..267ecd2a0a9e3848b4842015ebecd4eeaf033ef2
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db7f19643170bdb52e1b76bb092065be8843e84
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..f09e17a711d2c22d8dd0b53f1cd6d71a063bc508
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md
@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Task conditioning: `True`
+- Geometry enabled: `True`
+- World-model mode: `checkpoint_default`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db7f19643170bdb52e1b76bb092065be8843e84
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt
@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff7f80f99f3abeb32e62946f17f0aadd9aa612af
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt
@@ -0,0 +1,6018 @@
+[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5dce8546d3c50127f5b2179544d980816a550abb
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d5c626f7adc3a20b3b1e0cc6bc2ea11634e1d7
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..9ff293875e296027defeb145c34c84f5ef453a3f
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md
@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Task conditioning: `True`
+- Geometry enabled: `True`
+- World-model mode: `checkpoint_default`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d5c626f7adc3a20b3b1e0cc6bc2ea11634e1d7
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stderr.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stderr.txt
@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc83e135ba1acc179f69429f8c32f9e3bbfcca4e
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt
@@ -0,0 +1,6018 @@
+[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e10616502fc5426b53858750fa79fbd59b6ce1a4
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd055bc8ff11bf16ae38fa8d03c1813cddd840de
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..994679a70ec299bd531ed809d7221fb2c2ebe832
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md
@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Task conditioning: `True`
+- Geometry enabled: `True`
+- World-model mode: `checkpoint_default`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd055bc8ff11bf16ae38fa8d03c1813cddd840de
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json
@@ -0,0 +1,6016 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stderr.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stderr.txt
@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e20f5453f0a1682fc213d37cd5a9836ccb26379b
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/stdout.txt
@@ -0,0 +1,6018 @@
+[task] bimanual_push_box: mean_success=0.000 mean_return=0.000
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf52e883c925fb771a6a6e4b7a01d9ea5f813f4b
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.json
@@ -0,0 +1,18004 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "device": "cuda",
+  "no_planner": false,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "reset_retries": 20,
+  "disable_task_conditioning": false,
+  "no_geometry": false,
+  "compact_world_model": false,
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json"
+    },
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json"
+    },
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json"
+    }
+  },
+  "subprocess_mode": "isolated_per_task",
+  "task_count": 3,
+  "error_tasks": [],
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..15de111f50adef2f68993914b3cae458b460278a
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.md
@@ -0,0 +1,24 @@
+# PerAct2 13-Task Rollout Sweep
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Episodes per task: `25`
+- Episode length: `25`
+- Resolution: `256`
+- No planner: `False`
+- Arm mode: `planning`
+- Delta scale: `1.0`
+- Reset retries: `20`
+- Disable task conditioning: `False`
+- No geometry: `False`
+- Compact world model: `False`
+- Task count: `3`
+- Error tasks: `[]`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5177e8687dc818d927b9215a738d331f49d7a1de
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt
@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9b3ef8fc5493034578d65664ed5068e8cf0070
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json
@@ -0,0 +1,6017 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.",
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..27109abb4cd925939fea69ab64e5168c4784f77d
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md
@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `True`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Task conditioning: `True`
+- Geometry enabled: `True`
+- World-model mode: `checkpoint_default`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9b3ef8fc5493034578d65664ed5068e8cf0070
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json
@@ -0,0 +1,6017 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.",
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt
@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1051309ce521be0dc481b453f2d690ab56deccea
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt
@@ -0,0 +1,6019 @@
+[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.",
+  "mean_success": 0.0
+}
+[CoppeliaSim:loadinfo]   done.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stderr.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stderr.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stderr.txt
@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf85d9c07bda927bd3239915ea34c5353375e15
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.json
@@ -0,0 +1,18004 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "episodes_per_task": 25,
+  "episode_length": 25,
+  "resolution": 256,
+  "device": "cuda",
+  "no_planner": false,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "reset_retries": 20,
+  "disable_task_conditioning": false,
+  "no_geometry": false,
+  "compact_world_model": false,
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the box to the red area",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json"
+    },
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "Lift the ball",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json"
+    },
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "returns": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "path_recoveries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "noop_fallbacks": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "reset_retries": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "episode_traces": [
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        },
+        {
+          "language_goal": "push the olive and the orange buttons",
+          "steps": [
+            {
+              "timestep": 0,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 1,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 2,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 3,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 4,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 5,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 6,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 7,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 8,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 9,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 10,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 11,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 12,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 13,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 14,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 15,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 16,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 17,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 18,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 19,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 20,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 21,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 22,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 23,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            },
+            {
+              "timestep": 24,
+              "chosen_macro_mode": null,
+              "planner_scores": null,
+              "predicted_reocclusion": null,
+              "support_mode_conditioning": true,
+              "path_recoveries": 0,
+              "noop_fallbacks": 0
+            }
+          ],
+          "success": 0.0,
+          "return": 0.0,
+          "path_recoveries": 0,
+          "noop_fallbacks": 0
+        }
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0,
+      "subprocess_returncode": 0,
+      "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json"
+    }
+  },
+  "subprocess_mode": "isolated_per_task",
+  "task_count": 3,
+  "error_tasks": [],
+  "mean_success": 0.0
+}
\ No newline at end of file
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.md
new file mode 100644
index 0000000000000000000000000000000000000000..a71e067a28cecb270384962cd0552dd75ebc0c15
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.md
@@ -0,0 +1,24 @@
+# PerAct2 13-Task Rollout Sweep
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `True`
+- Plan applied: `True`
+- Episodes per task: `25`
+- Episode length: `25`
+- Resolution: `256`
+- No planner: `False`
+- Arm mode: `planning`
+- Delta scale: `1.0`
+- Reset retries: `20`
+- Disable task conditioning: `False`
+- No geometry: `False`
+- Compact world model: `False`
+- Task count: `3`
+- Error tasks: `[]`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_train.log b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_train.log
new file mode 100644
index 0000000000000000000000000000000000000000..7c60310a7208f3712a04a06d85deba34f0625e35
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_train.log
@@ -0,0 +1,1210 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+{
+  "experiment_name": "rlbench_subset3_backbone_only_clip_100demo_fair_seed17",
+  "device": "cuda",
+  "best_checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt",
+  "final_train_total": 0.0519192481622741,
+  "final_val_total": 0.04003412039403888,
+  "train_dataset": {
+    "dataset_root": "/workspace/data/rlbench2_subset3",
+    "tasks": [
+      "bimanual_lift_ball",
+      "bimanual_push_box",
+      "bimanual_dual_push_buttons"
+    ],
+    "episode_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89
+    ],
+    "num_episodes": 270,
+    "num_samples": 34014,
+    "resolution": 256,
+    "chunk_size": 8,
+    "proprio_dim": 32,
+    "history_steps": 2,
+    "supervise_action_steps": null
+  },
+  "val_dataset": {
+    "dataset_root": "/workspace/data/rlbench2_subset3",
+    "tasks": [
+      "bimanual_lift_ball",
+      "bimanual_push_box",
+      "bimanual_dual_push_buttons"
+    ],
+    "episode_indices": [
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "num_episodes": 30,
+    "num_samples": 3728,
+    "resolution": 256,
+    "chunk_size": 8,
+    "proprio_dim": 32,
+    "history_steps": 2,
+    "supervise_action_steps": null
+  },
+  "init_info": {
+    "path": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt",
+    "missing_keys": [],
+    "unexpected_keys": []
+  },
+  "planner_mode": "trainable",
+  "plan_enabled_for_train": false,
+  "plan_enabled_for_eval": false,
+  "frozen_modules": [],
+  "trainable_parameter_prefixes": [],
+  "trainable_parameter_names": []
+}
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_eval.log b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..484cc419cf602e4b87a35cb4af5f5af153a93aa6
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_eval.log
@@ -0,0 +1,5 @@
+[peract2-sweep] running task=bimanual_push_box plan=False
+[peract2-sweep] running task=bimanual_lift_ball plan=False
+[peract2-sweep] running task=bimanual_dual_push_buttons plan=False
+[peract2-sweep] running task=bimanual_push_box plan=True
+[peract2-sweep] running task=bimanual_lift_ball plan=True
diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_train.log b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_train.log
new file mode 100644
index 0000000000000000000000000000000000000000..3ccae32a36b214f92243f52bb90ab91ad3531d1e
--- /dev/null
+++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_train.log
@@ -0,0 +1,1212 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/observation_memory.py:211: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.sequence_encoder = nn.TransformerEncoder(encoder_layer, num_layers=1)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks...
+To disable this warning, you can either:
+	- Avoid using `tokenizers` before the fork if possible
+	- Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false)
+{
+  "experiment_name": "rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17",
+  "device": "cuda",
+  "best_checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt",
+  "final_train_total": 0.04286737375723798,
+  "final_val_total": 0.03828969452464381,
+  "train_dataset": {
+    "dataset_root": "/workspace/data/rlbench2_subset3",
+    "tasks": [
+      "bimanual_lift_ball",
+      "bimanual_push_box",
+      "bimanual_dual_push_buttons"
+    ],
+    "episode_indices": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89
+    ],
+    "num_episodes": 270,
+    "num_samples": 34014,
+    "resolution": 256,
+    "chunk_size": 8,
+    "proprio_dim": 32,
+    "history_steps": 6,
+    "supervise_action_steps": null
+  },
+  "val_dataset": {
+    "dataset_root": "/workspace/data/rlbench2_subset3",
+    "tasks": [
+      "bimanual_lift_ball",
+      "bimanual_push_box",
+      "bimanual_dual_push_buttons"
+    ],
+    "episode_indices": [
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "num_episodes": 30,
+    "num_samples": 3728,
+    "resolution": 256,
+    "chunk_size": 8,
+    "proprio_dim": 32,
+    "history_steps": 6,
+    "supervise_action_steps": null
+  },
+  "init_info": {
+    "path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt",
+    "missing_keys": [],
+    "unexpected_keys": []
+  },
+  "planner_mode": "trainable",
+  "plan_enabled_for_train": false,
+  "plan_enabled_for_eval": true,
+  "frozen_modules": [],
+  "trainable_parameter_prefixes": [],
+  "trainable_parameter_names": []
+}