diff --git a/.gitattributes b/.gitattributes
index b4da1ab9d8203d56a9a57cdcd04a8e185103fb53..c00f1f2d82cd1291f0c7ebfe118fecd700d8e67c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -425,3 +425,12 @@ artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png filter=lf
 artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/oven_episode0_iter6_visual_checks/early_visibility_contact_sheet.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_visibility.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_visibility.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_visibility.png filter=lfs diff=lfs merge=lfs -text
diff --git a/MANIFEST.txt b/MANIFEST.txt
index 15401912074152dfc1ae18611efb6797dcacda26..6d66c04fed35431cfcce17a932fadf065b84e4e7 100644
--- a/MANIFEST.txt
+++ b/MANIFEST.txt
@@ -21344,6 +21344,79 @@
 ./.cache/huggingface/upload/external/yarr/yarr/utils/video_utils.py.metadata
 ./MANIFEST.txt
 ./README.md
+./artifacts/results/iter10_episode6_probe/worker_00/templates.json
+./artifacts/results/iter10_episode6_probe/worker_00/worker.log
+./artifacts/results/iter10_episode6_probe/worker_00/xvfb.log
+./artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.keyframes.csv
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.metrics.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/summary.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/xvfb.log
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/xvfb.log
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/templates.json
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/worker.log
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/xvfb.log
@@ -21368,6 +21441,97 @@
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/templates.json
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_workers.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/xvfb.log
+./artifacts/results/manual_metric_checks/episode0_frame210_all.png
+./artifacts/results/manual_metric_checks/episode0_frame210_path.png
+./artifacts/results/manual_metric_checks/episode0_frame210_visibility.png
+./artifacts/results/manual_metric_checks/episode0_frame232_all.png
+./artifacts/results/manual_metric_checks/episode0_frame232_path.png
+./artifacts/results/manual_metric_checks/episode0_frame232_visibility.png
+./artifacts/results/manual_metric_checks/episode6_frame230_all.png
+./artifacts/results/manual_metric_checks/episode6_frame230_path.png
+./artifacts/results/manual_metric_checks/episode6_frame230_visibility.png
 ./artifacts/results/oven_episode0_full/episode0.dense.csv
 ./artifacts/results/oven_episode0_full/episode0.keyframes.csv
 ./artifacts/results/oven_episode0_full/episode0.metrics.json
@@ -21882,6 +22046,8 @@
 ./code/rr_label_study/__pycache__/oven_study.cpython-311.pyc
 ./code/rr_label_study/__pycache__/oven_study.cpython-38.pyc
 ./code/rr_label_study/oven_study.py
+./code/scripts/__pycache__/launch_parallel_oven_label_study.cpython-311.pyc
+./code/scripts/__pycache__/refresh_saved_oven_study.cpython-311.pyc
 ./code/scripts/__pycache__/render_oven_metric_frame.cpython-311.pyc
 ./code/scripts/__pycache__/render_oven_metric_frame.cpython-38.pyc
 ./code/scripts/__pycache__/repair_oven_episode_dense.cpython-311.pyc
diff --git a/README.md b/README.md
index 0ba7803cade7c0646f05027057bb9a55a730a7f9..60ae5e519b578a4c3a6836a4d12c1762e5f65f58 100644
--- a/README.md
+++ b/README.md
@@ -34,6 +34,9 @@ The current code addresses those issues by:
 - supporting and now preferring `--independent-replay` for the authoritative dense study
 - tightening `y_pre` so it stays on once the retriever is clearly inside the pregrasp corridor
 - retuning `phase_score` so it tracks the reveal-to-retrieve handoff instead of generic early motion
+- recomputing intervention validity from isolated per-frame env replays instead of the old live-cache path
+- sampling intervention states earlier in the reveal phase so pre-ready extract checks are not contaminated by borderline near-ready states
+- confirming extraction feasibility with repeated planner checks inside the extract oracle so one lucky planner sample is less likely to flip a label
 
 The old `iter4_*` outputs are still useful historical checkpoints, but the current authoritative path is the new independent-replay episode-0 rerun under `artifacts/results/oven_episode0_iter6_independent_full/`.
 
@@ -46,7 +49,7 @@ The old `iter4_*` outputs are still useful historical checkpoints, but the curre
   - Study runners and helpers.
   - `run_oven_label_study.py`: dense/keyframe study runner.
   - `launch_parallel_oven_label_study.py`: multi-display worker launcher.
-  - `refresh_saved_oven_study.py`: recompute keyframes, per-episode metrics, and summary JSONs from saved dense CSVs after metric-code changes.
+  - `refresh_saved_oven_study.py`: recompute keyframes, per-episode metrics, intervention stats, and summary JSONs from saved dense CSVs after metric-code changes.
   - `run_oven_single_frame.py`: single-frame recomputation helper.
   - `run_oven_frame_batch.py`: new sequential batch recomputation helper used to avoid late-frame drift.
   - `repair_oven_episode_dense.py`: batched repair pass for suspicious dense rows.
@@ -118,6 +121,21 @@ This fixed the major replay bug where post-oracle restores could leave the arm,
 - `launch_parallel_oven_label_study.py` now passes that flag through to worker runs.
 - For the current oven study, independent replay is the trustworthy dense mode because it avoids cross-frame contamination from oracle rollouts.
 
+### 6. Intervention validity repair
+
+- The old intervention summary reused the dense-study replay cache, which could still corrupt post-ready extract checks.
+- `_interventional_validity()` now evaluates each sampled intervention state from a fresh env/replay instance.
+- `refresh_saved_oven_study.py` now supports `--dataset-root` so intervention metrics can be recomputed instead of copied forward from stale JSON.
+- The refined intervention protocol now samples pre-ready states at `ready_onset-20` and `ready_onset-10` instead of `ready_onset-10` and `ready_onset-5`, which avoids counting borderline almost-ready states as generic reveal-phase interventions.
+
+### 7. Extraction-oracle hardening
+
+- `_extract_score_and_success()` now uses repeated planner checks before marking a milestone as feasible.
+- The current configuration is intentionally modest:
+  - `DEFAULT_PLAN_ATTEMPTS = 2`
+  - `DEFAULT_PLAN_MIN_SUCCESSES = 2`
+- This only hardens the extraction oracle, not the pregrasp score, so the dense study remains tractable while the noisy pre-ready extract successes are suppressed.
+
 ## Latest Validated Artifacts
 
 The current trustworthy artifacts are:
@@ -134,6 +152,12 @@ The current trustworthy artifacts are:
 - `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
 - `artifacts/results/oven_episode0_iter6_independent_full/summary.json`
 - `artifacts/results/oven_episode0_iter6_visual_checks/early_visibility_contact_sheet.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame232_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_path.png`
+- `artifacts/results/manual_metric_checks/episode6_frame230_path.png`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json`
 
 The `iter6_independent_full` CSVs and JSON summaries have been refreshed with the latest `phase_score` logic via `code/scripts/refresh_saved_oven_study.py`.
 
@@ -171,10 +195,32 @@ From the current independent-replay validation on episode 0:
   - `f1_phase_yretrieve ≈ 0.996`
   - `auroc_phase_yready ≈ 0.998`
   - `f1_phase_yready ≈ 0.905`
+- In the refreshed isolated intervention check on episode 0:
+  - pre-ready `open_more` increases `p_ext` on `2/2` sampled states
+  - pre-ready `extract` succeeds on `0/2`
+  - post-ready `extract` succeeds on `2/2`
+  - post-ready `open_more` and `hold_open` both have low marginal gain on `2/2`
 - The refreshed phase columns now place:
   - `first phase_switch` at frame `214`
   - `first y_retrieve` at frame `215`
   - `first y_ready` at frame `234`
+- The refined 8-episode independent-replay smoke in `artifacts/results/iter12_parallel_smoke_8ep_refined/` shows:
+  - `single_switch_rate = 1.0`
+  - `reversion_rate = 0.0`
+  - mean `auroc_ppre_ypre ≈ 0.809`
+  - mean `auprc_ppre_ypre ≈ 0.924`
+  - mean `auroc_pext_yext = 1.0`
+  - mean `auprc_pext_yext = 1.0`
+  - mean `f1_phase_yretrieve ≈ 0.996`
+  - mean `f1_phase_yready ≈ 0.906`
+  - mean dense boundary error to `y_retrieve ≈ 0.88` frames
+  - mean pre-ready extract success `= 0.0/2.0`
+  - mean pre-ready wait extract success `= 0.0/2.0`
+  - mean post-ready extract success `≈ 1.625/2.0`
+- The main remaining limitation on this oven task is not a broken metric but task structure:
+  - the grasp-region visibility metric is visually faithful but only weakly predictive because the tray lip is already visible early in many demos
+  - time remains a very strong trivial baseline for `y_ext` on expert demos
+  - `open_more` improves `p_ext` mainly near the reveal/retrieve boundary, not uniformly throughout the whole pre-ready window
 
 See:
 
@@ -183,6 +229,11 @@ See:
 - `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
 - `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
 - `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
+- `artifacts/results/manual_metric_checks/episode0_frame210_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame232_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_path.png`
+- `artifacts/results/manual_metric_checks/episode6_frame230_path.png`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json`
 
 ## Artifact Guide
 
diff --git a/artifacts/results/iter10_episode6_probe/worker_00/templates.json b/artifacts/results/iter10_episode6_probe/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c905d2f91dd5850886f0165c29febf53882272
--- /dev/null
+++ b/artifacts/results/iter10_episode6_probe/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
+      [
+        -0.3625197505146321,
+        0.08372429131714548,
+        0.13691903626392898,
+        0.6416348447407467,
+        0.6410872565393582,
+        0.29868034011062794,
+        0.2968196589661076
+      ],
+      [
+        -0.32979445983162176,
+        0.08659364792515764,
+        0.12045077578809749,
+        0.6287469690798895,
+        0.6287301318727057,
+        0.3243430018231259,
+        0.32276506520462594
+      ],
+      [
+        -0.2910925493361141,
+        0.08985276158129711,
+        0.10101096601604831,
+        0.6124184244028302,
+        0.6122709767290938,
+        0.35430518709849695,
+        0.35289624381998647
+      ],
+      [
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+        0.07770067425331129,
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+        0.5908549510320831,
+        0.3889344056030255,
+        0.38776043866540033
+      ],
+      [
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+        0.09824358579289771,
+        0.04990667629200307,
+        0.5635900638946065,
+        0.5631538374566398,
+        0.4277702591171187,
+        0.4268917903310006
+      ],
+      [
+        -0.12217129631756263,
+        0.09345070134195246,
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+        0.5503450945485194,
+        0.5264249147312487,
+        0.4450459711257041,
+        0.47109571176286236
+      ],
+      [
+        -0.11087643306877748,
+        0.09014108451750254,
+        -0.031580235354697894,
+        0.5622041544757288,
+        0.5226343775452266,
+        0.43323659021636735,
+        0.472319651291199
+      ]
+    ],
+    "pregrasp_rel_pose": [
+      -0.12217129631756263,
+      0.09345070134195246,
+      -0.006546997831216039,
+      0.5503450945485194,
+      0.5264249147312487,
+      0.4450459711257041,
+      0.47109571176286236
+    ],
+    "grasp_rel_pose": [
+      -0.09865615619553114,
+      0.09471180553609355,
+      -0.023587008474192483,
+      0.5452601219922814,
+      0.5150377871073674,
+      0.45379910210390734,
+      0.48113808012481835
+    ],
+    "retreat_rel_poses": [
+      [
+        0.2548525929450989,
+        0.23748670518398285,
+        0.292730450630188,
+        0.3300291728725241,
+        0.627796734434498,
+        0.6244628081014154,
+        0.3271058033489361
+      ],
+      [
+        0.22123366594314575,
+        0.20692090690135956,
+        0.3001290559768677,
+        0.3293369490711715,
+        0.6272174893562581,
+        0.6253236114995244,
+        0.3272701879538016
+      ],
+      [
+        0.17805954813957214,
+        0.16776257753372192,
+        0.3092261552810669,
+        0.3292203946981642,
+        0.627092205167199,
+        0.6254558193462786,
+        0.3273748859934127
+      ],
+      [
+        0.132161945104599,
+        0.1261904537677765,
+        0.31862151622772217,
+        0.32922833561062037,
+        0.6270130163004302,
+        0.6255370861132601,
+        0.32736330630941085
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+      [
+        0.05666536092758179,
+        0.058310166001319885,
+        0.33417391777038574,
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+        0.6267400620289424,
+        0.6259557840834131,
+        0.3272617582705744
+      ],
+      [
+        0.0558415949344635,
+        0.05751470848917961,
+        0.3844491243362427,
+        0.32944931283048395,
+        0.6271554580797323,
+        0.6255767695203596,
+        0.3267918100454689
+      ],
+      [
+        0.05576580762863159,
+        0.053012214601039886,
+        0.5137358903884888,
+        0.3352571906446373,
+        0.6275228042160846,
+        0.6205178281888475,
+        0.329811114442256
+      ],
+      [
+        0.05594903230667114,
+        0.05725332349538803,
+        0.6016567945480347,
+        0.3290406683903203,
+        0.6269357648722236,
+        0.625839814295268,
+        0.3271212498634039
+      ],
+      [
+        0.11017268896102905,
+        0.09445947408676147,
+        0.6008111238479614,
+        0.3295905054305836,
+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
+        0.1597837209701538,
+        0.1288578361272812,
+        0.6011183261871338,
+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 6
+}
\ No newline at end of file
diff --git a/artifacts/results/iter10_episode6_probe/worker_00/worker.log b/artifacts/results/iter10_episode6_probe/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..428c8d740a113cba3008a3e3103f132bef5fd430
--- /dev/null
+++ b/artifacts/results/iter10_episode6_probe/worker_00/worker.log
@@ -0,0 +1,6 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
diff --git a/artifacts/results/iter10_episode6_probe/worker_00/xvfb.log b/artifacts/results/iter10_episode6_probe/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json b/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd8eba0ac40b83f9d8c23823aa35781bbb1b5d7
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json
@@ -0,0 +1,106 @@
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": -1.0,
+    "pext_cross_frame": -1.0,
+    "phase_cross_frame": -1.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": -1.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": NaN,
+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
+    "auprc_vret_ypre_full": NaN,
+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 4.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": -1.0,
+    "pext_cross_frame": -1.0,
+    "phase_cross_frame": -1.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": -1.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": NaN,
+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
+    "auprc_vret_ypre_full": NaN,
+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 4.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "single_switch_rate": 0.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json b/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8b9f90f009a16a0b158cda7161dcb98ed5fe385
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json
@@ -0,0 +1,9 @@
+[
+  {
+    "worker_index": 0,
+    "display_num": 210,
+    "episode_offset": 0,
+    "episode_count": 1,
+    "return_code": 0
+  }
+]
\ No newline at end of file
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ff5d061321039b9393e8fe08868e0a1fcba6c8d
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv
@@ -0,0 +1,65 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
+0,0.0,1.5707963705062866,1.0,1.0,0.0,0.48738440681897394,0.003337103414831631,0.0007339318593343093,1.0,0.0,1.0,1.0,1.0,1.0,0.0,0.0020328091853083485,0.0010011310244494892,0.0,0.0,0.0,0.0
+1,0.015873015873015872,1.5707963705062866,1.0,1.0,0.0,0.4872827663597085,0.0033481020568915695,0.0007343292236328118,1.0,0.0,1.0,1.0,1.0,1.0,0.0,0.004410497035673977,0.0010044306170674709,0.0,0.0,0.0,0.0
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diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.keyframes.csv b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08b5768dbb4a303095db10c11acf4283cc980dfe
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.keyframes.csv
@@ -0,0 +1,2 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch,keyframe_ordinal
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diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.metrics.json b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c04d8fae659417cccdeb9934b35675d64d2c5f5
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode0",
+  "description": "take tray out of oven",
+  "num_dense_frames": 64,
+  "num_keyframes": 1,
+  "phase_switch_rises": 0,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": -1,
+  "pext_cross_frame": -1,
+  "phase_cross_frame": -1,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": -1,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": NaN,
+  "dense_boundary_error_fraction": NaN,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": NaN,
+  "auroc_vret_ypre_three": NaN,
+  "auprc_vret_ypre_three": NaN,
+  "auroc_vret_ypre_full": NaN,
+  "auprc_vret_ypre_full": NaN,
+  "auroc_ppre_ypre": NaN,
+  "auprc_ppre_ypre": NaN,
+  "auroc_pext_yext": NaN,
+  "auprc_pext_yext": NaN,
+  "auroc_phase_yretrieve": NaN,
+  "auprc_phase_yretrieve": NaN,
+  "f1_phase_yretrieve": NaN,
+  "auroc_phase_yready": NaN,
+  "auprc_phase_yready": NaN,
+  "f1_phase_yready": NaN,
+  "baseline_auroc_door_yext": NaN,
+  "baseline_auprc_door_yext": NaN,
+  "baseline_auroc_time_yext": NaN,
+  "baseline_auprc_time_yext": NaN,
+  "baseline_auroc_whole_vis_yext": NaN,
+  "baseline_auprc_whole_vis_yext": NaN,
+  "pre_ready_open_more_increases_pext": 0.0,
+  "pre_ready_open_more_trials": 4.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
+  "pre_ready_hold_open_trials": 4.0,
+  "pre_ready_extract_success": 0.0,
+  "pre_ready_extract_trials": 4.0,
+  "pre_ready_wait_extract_success": 0.0,
+  "pre_ready_wait_trials": 4.0,
+  "post_ready_extract_success": 0.0,
+  "post_ready_extract_trials": 0.0,
+  "post_ready_open_more_low_gain": 0.0,
+  "post_ready_open_more_trials": 0.0,
+  "post_ready_hold_open_low_gain": 0.0,
+  "post_ready_hold_open_trials": 0.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/summary.json b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd8eba0ac40b83f9d8c23823aa35781bbb1b5d7
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/summary.json
@@ -0,0 +1,106 @@
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": -1.0,
+    "pext_cross_frame": -1.0,
+    "phase_cross_frame": -1.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": -1.0,
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+    "dense_boundary_error_frames": NaN,
+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
+    "auprc_vret_ypre_full": NaN,
+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 4.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
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+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": -1.0,
+    "pext_cross_frame": -1.0,
+    "phase_cross_frame": -1.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": -1.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
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+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
+    "auprc_vret_ypre_full": NaN,
+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 4.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "single_switch_rate": 0.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd24b38166ecfb125568bb499187227fb060343
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
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+  "episode_offset": 0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..41a7c387db16e3ba43dc2f352e564ad572feb730
--- /dev/null
+++ b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+[episode0] analyzed 25/64 dense frames
+[episode0] analyzed 50/64 dense frames
+[episode0] analyzed 64/64 dense frames
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
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+    "dense_boundary_error_to_retrieve_frames": NaN,
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+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
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+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
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+    "auroc_ppre_ypre": NaN,
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+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
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+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 64.0,
+    "num_keyframes": 1.0,
+    "phase_switch_rises": 0.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": -1.0,
+    "pext_cross_frame": -1.0,
+    "phase_cross_frame": -1.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": -1.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": NaN,
+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
+    "auprc_vret_ypre_full": NaN,
+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
+    "auroc_pext_yext": NaN,
+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
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+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 4.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 4.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 4.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 4.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 0.0,
+    "post_ready_open_more_low_gain": 0.0,
+    "post_ready_open_more_trials": 0.0,
+    "post_ready_hold_open_low_gain": 0.0,
+    "post_ready_hold_open_trials": 0.0
+  },
+  "single_switch_rate": 0.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/xvfb.log b/artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json b/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c905d2f91dd5850886f0165c29febf53882272
--- /dev/null
+++ b/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
+      [
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+        0.08372429131714548,
+        0.13691903626392898,
+        0.6416348447407467,
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+        0.29868034011062794,
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+      [
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+  "template_frames": {
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+  },
+  "episode_offset": 6
+}
\ No newline at end of file
diff --git a/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log b/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..18c3cdca8eb31f945994570fcde839d616ec1bcf
--- /dev/null
+++ b/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log
@@ -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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
+[episode6] analyzed 50/328 dense frames
diff --git a/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/xvfb.log b/artifacts/results/iter11_episode6_probe_extractrobust/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d43b7ba4d3010aea0e2666e18bcb745c80faf65
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json
@@ -0,0 +1,106 @@
+{
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+    "auprc_phase_yretrieve": 1.0,
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+    "auprc_phase_yready": 0.9873546346441492,
+    "f1_phase_yready": 0.9046422589136156,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15444815460159697,
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+    "baseline_auprc_time_yext": 0.9999999999999998,
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+    "baseline_auprc_whole_vis_yext": 0.270537714712472,
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+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18ed84cc4487b8421a0a3c46cf5f4aed9365629
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json
@@ -0,0 +1,58 @@
+[
+  {
+    "worker_index": 0,
+    "display_num": 230,
+    "episode_offset": 0,
+    "episode_count": 1,
+    "return_code": 0
+  },
+  {
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+    "display_num": 231,
+    "episode_offset": 1,
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+  {
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+    "display_num": 232,
+    "episode_offset": 2,
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+  {
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+    "display_num": 233,
+    "episode_offset": 3,
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+  },
+  {
+    "worker_index": 4,
+    "display_num": 234,
+    "episode_offset": 4,
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+    "return_code": 0
+  },
+  {
+    "worker_index": 5,
+    "display_num": 235,
+    "episode_offset": 5,
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+  },
+  {
+    "worker_index": 6,
+    "display_num": 236,
+    "episode_offset": 6,
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+  },
+  {
+    "worker_index": 7,
+    "display_num": 237,
+    "episode_offset": 7,
+    "episode_count": 1,
+    "return_code": 0
+  }
+]
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec1bdc5cd696dcf5765f3bfb157c1aff2f329e54
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.dense.csv
@@ -0,0 +1,330 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2ed3ecb921f6679daefbf1604dc6a33585ccf14
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.keyframes.csv
@@ -0,0 +1,15 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch,keyframe_ordinal
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..147f959eb1d786c5369259dc7a1319d7d41a0663
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode0",
+  "description": "take tray out of oven",
+  "num_dense_frames": 329,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 216,
+  "pext_cross_frame": 232,
+  "phase_cross_frame": 214,
+  "retrieve_cross_frame": 215,
+  "ready_cross_frame": 234,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 1.0,
+  "dense_boundary_error_frames": 20.0,
+  "dense_boundary_error_fraction": 0.060790273556231005,
+  "key_boundary_error_to_retrieve_keyframes": 0.0,
+  "key_boundary_error_keyframes": 0.0,
+  "auroc_vret_ypre_three": 0.37333333333333335,
+  "auprc_vret_ypre_three": 0.6271326031029801,
+  "auroc_vret_ypre_full": 0.37333333333333335,
+  "auprc_vret_ypre_full": 0.6268323582996906,
+  "auroc_ppre_ypre": 0.7608547008547009,
+  "auprc_ppre_ypre": 0.9029342359139458,
+  "auroc_pext_yext": 1.0,
+  "auprc_pext_yext": 1.0,
+  "auroc_phase_yretrieve": 1.0,
+  "auprc_phase_yretrieve": 1.0,
+  "f1_phase_yretrieve": 0.9956331877729258,
+  "auroc_phase_yready": 0.9982456140350877,
+  "auprc_phase_yready": 0.9955174255664128,
+  "f1_phase_yready": 0.9047619047619047,
+  "baseline_auroc_door_yext": 0.0,
+  "baseline_auprc_door_yext": 0.16605628948799386,
+  "baseline_auroc_time_yext": 1.0,
+  "baseline_auprc_time_yext": 1.0,
+  "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+  "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+  "pre_ready_open_more_increases_pext": 2.0,
+  "pre_ready_open_more_trials": 2.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
+  "pre_ready_hold_open_trials": 2.0,
+  "pre_ready_extract_success": 0.0,
+  "pre_ready_extract_trials": 2.0,
+  "pre_ready_wait_extract_success": 0.0,
+  "pre_ready_wait_trials": 2.0,
+  "post_ready_extract_success": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3f440a52f21f021156c777f630850744daaeeb
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json
@@ -0,0 +1,106 @@
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
+    "auprc_ppre_ypre": 0.9029342359139458,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9982456140350877,
+    "auprc_phase_yready": 0.9955174255664128,
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+    "baseline_auroc_door_yext": 0.0,
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
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+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
+    "auprc_ppre_ypre": 0.9029342359139458,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9982456140350877,
+    "auprc_phase_yready": 0.9955174255664128,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.16605628948799386,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd24b38166ecfb125568bb499187227fb060343
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+    "grasp_region_extents": [
+      0.03,
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+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
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+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+    ]
+  },
+  "episode_offset": 0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..30606e73ebaa2d9769bde8ed6e8a664de4c61db8
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log
@@ -0,0 +1,149 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+[episode0] analyzed 25/329 dense frames
+[episode0] analyzed 50/329 dense frames
+[episode0] analyzed 75/329 dense frames
+[episode0] analyzed 100/329 dense frames
+[episode0] analyzed 125/329 dense frames
+[episode0] analyzed 150/329 dense frames
+[episode0] analyzed 175/329 dense frames
+[episode0] analyzed 200/329 dense frames
+[episode0] analyzed 225/329 dense frames
+[episode0] analyzed 250/329 dense frames
+[episode0] analyzed 275/329 dense frames
+[episode0] analyzed 300/329 dense frames
+[episode0] analyzed 325/329 dense frames
+[episode0] analyzed 329/329 dense frames
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 329.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
+    "auprc_ppre_ypre": 0.9029342359139458,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9982456140350877,
+    "auprc_phase_yready": 0.9955174255664128,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.16605628948799386,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 329.0,
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+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
+    "auprc_ppre_ypre": 0.9029342359139458,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9982456140350877,
+    "auprc_phase_yready": 0.9955174255664128,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.16605628948799386,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..411d56b9d820602ea9df1ef3fb8c7ee1e0865a67
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv
@@ -0,0 +1,313 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f99abc09d880311fdebf4a906c4ebc1eaf863966
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a859cd25b8a554ec14b6d094d838c82143e73
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode1",
+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "phase_cross_frame": 225,
+  "retrieve_cross_frame": 225,
+  "ready_cross_frame": 238,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 0.0,
+  "dense_boundary_error_frames": 13.0,
+  "dense_boundary_error_fraction": 0.041666666666666664,
+  "key_boundary_error_to_retrieve_keyframes": 0.0,
+  "key_boundary_error_keyframes": 0.0,
+  "auroc_vret_ypre_three": 0.5,
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+  "auroc_vret_ypre_full": 0.5,
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+  "baseline_auprc_time_yext": 1.0,
+  "baseline_auroc_whole_vis_yext": 0.5,
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+  "pre_ready_open_more_increases_pext": 1.0,
+  "pre_ready_open_more_trials": 2.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
+  "pre_ready_hold_open_trials": 2.0,
+  "pre_ready_extract_success": 0.0,
+  "pre_ready_extract_trials": 2.0,
+  "pre_ready_wait_extract_success": 0.0,
+  "pre_ready_wait_trials": 2.0,
+  "post_ready_extract_success": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 1.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 1.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bc8e15c63138b00f2dce64ab913f0b044dc6f25
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/summary.json
@@ -0,0 +1,106 @@
+{
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2403846153846154,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f5b72421c1a6ef4740b355b5232b81a96af466
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
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+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      315
+    ]
+  },
+  "episode_offset": 1
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..358b3151b1078adc0c0bc959685ce464abb16819
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode1] analyzed 25/312 dense frames
+[episode1] analyzed 50/312 dense frames
+[episode1] analyzed 75/312 dense frames
+[episode1] analyzed 100/312 dense frames
+[episode1] analyzed 125/312 dense frames
+[episode1] analyzed 150/312 dense frames
+[episode1] analyzed 175/312 dense frames
+[episode1] analyzed 200/312 dense frames
+[episode1] analyzed 225/312 dense frames
+[episode1] analyzed 250/312 dense frames
+[episode1] analyzed 275/312 dense frames
+[episode1] analyzed 300/312 dense frames
+[episode1] analyzed 312/312 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 312.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 226.0,
+    "pext_cross_frame": 237.0,
+    "phase_cross_frame": 225.0,
+    "retrieve_cross_frame": 225.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": 0.0,
+    "dense_boundary_error_frames": 13.0,
+    "dense_boundary_error_fraction": 0.041666666666666664,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.625,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.625,
+    "auroc_ppre_ypre": 0.8659653736576813,
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+    "auprc_phase_yready": 0.9869119081178965,
+    "f1_phase_yready": 0.9192546583850931,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1327805535676393,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2403846153846154,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 312.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 226.0,
+    "pext_cross_frame": 237.0,
+    "phase_cross_frame": 225.0,
+    "retrieve_cross_frame": 225.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": 0.0,
+    "dense_boundary_error_frames": 13.0,
+    "dense_boundary_error_fraction": 0.041666666666666664,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.625,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.625,
+    "auroc_ppre_ypre": 0.8659653736576813,
+    "auprc_ppre_ypre": 0.9419465822589213,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 1.0,
+    "auroc_phase_yready": 0.9960254372019077,
+    "auprc_phase_yready": 0.9869119081178965,
+    "f1_phase_yready": 0.9192546583850931,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1327805535676393,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2403846153846154,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..060bffcd3b55d50f2dcbbe0cf62a60a2420a913d
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv
@@ -0,0 +1,326 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f85e76272eb819422fd74517a66a77355d3a5842
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe58c95641797bd768482755a2a7ab4278294f8c
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
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+  "retrieve_cross_frame": 217,
+  "ready_cross_frame": 235,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 1.0,
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+  "post_ready_hold_open_low_gain": 1.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..41807439d0e13d77c9670e2fad292c9541f5bbef
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json
@@ -0,0 +1,106 @@
+{
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+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dda726b23f40fd28ad9fe21e9b7add2683a5957
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
+      [
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+        0.13691903626392898,
+        0.6416348447407467,
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+    "pregrasp_rel_pose": [
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+      0.5503450945485194,
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+    "grasp_rel_pose": [
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+      [
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+        0.6253236114995244,
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+      [
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+        0.16776257753372192,
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+      [
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+      [
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+      [
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+      [
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+      [
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+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
+        0.1597837209701538,
+        0.1288578361272812,
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+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
+        0.19115081429481506,
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+        0.6273651178974856,
+        0.6251746471824625,
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+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 2
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..7f767d6bb01d9868b9963d7edd2a34f6abdd8604
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log
@@ -0,0 +1,148 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[episode2] analyzed 25/325 dense frames
+[episode2] analyzed 50/325 dense frames
+[episode2] analyzed 75/325 dense frames
+[episode2] analyzed 100/325 dense frames
+[episode2] analyzed 125/325 dense frames
+[episode2] analyzed 150/325 dense frames
+[episode2] analyzed 175/325 dense frames
+[episode2] analyzed 200/325 dense frames
+[episode2] analyzed 225/325 dense frames
+[episode2] analyzed 250/325 dense frames
+[episode2] analyzed 275/325 dense frames
+[episode2] analyzed 300/325 dense frames
+[episode2] analyzed 325/325 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 218.0,
+    "pext_cross_frame": 234.0,
+    "phase_cross_frame": 216.0,
+    "retrieve_cross_frame": 217.0,
+    "ready_cross_frame": 235.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.05846153846153846,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6923076923076923,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6923076923076923,
+    "auroc_ppre_ypre": 0.8048000000000001,
+    "auprc_ppre_ypre": 0.9233200127695511,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0000000000000002,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9957919621749408,
+    "auprc_phase_yready": 0.9888645911006677,
+    "f1_phase_yready": 0.9045226130653267,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1568735136713249,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 218.0,
+    "pext_cross_frame": 234.0,
+    "phase_cross_frame": 216.0,
+    "retrieve_cross_frame": 217.0,
+    "ready_cross_frame": 235.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.05846153846153846,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6923076923076923,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6923076923076923,
+    "auroc_ppre_ypre": 0.8048000000000001,
+    "auprc_ppre_ypre": 0.9233200127695511,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0000000000000002,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9957919621749408,
+    "auprc_phase_yready": 0.9888645911006677,
+    "f1_phase_yready": 0.9045226130653267,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1568735136713249,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d690940ed35f608049c5f50a2145a033d2e4734
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv
@@ -0,0 +1,287 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee7adee1e27535189062815c4c3ca4e4585dc62a
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a01d971ff4885a8dae0906b9fd601b223a699c9
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.metrics.json
@@ -0,0 +1,53 @@
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+  "pre_ready_hold_open_increases_pext": 0.0,
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+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa09ee5e95700cb7c00217bb3c71940dd52e891
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/summary.json
@@ -0,0 +1,106 @@
+{
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+  },
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+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdadf5dae3dd168048dc87820f4524a58e0f771e
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/templates.json
@@ -0,0 +1,234 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..f044c16eed05d1b4fb9db33737bf54890f37c734
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log
@@ -0,0 +1,137 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode3] analyzed 25/286 dense frames
+[episode3] analyzed 50/286 dense frames
+[episode3] analyzed 75/286 dense frames
+[episode3] analyzed 100/286 dense frames
+[episode3] analyzed 125/286 dense frames
+[episode3] analyzed 150/286 dense frames
+[episode3] analyzed 175/286 dense frames
+[episode3] analyzed 200/286 dense frames
+[episode3] analyzed 225/286 dense frames
+[episode3] analyzed 250/286 dense frames
+[episode3] analyzed 275/286 dense frames
+[episode3] analyzed 286/286 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
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+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d9f09a433fd2803baf6eb9c9707111ec18c09bb
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv
@@ -0,0 +1,310 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b77d0784b6f2b14408d1ae58ddfea643d89d3aca
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5763b811d4e3acb10991591a8a05c0c58f9751fc
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "ordering_ok": true,
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+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec23291fc1d6c9d261dd770a49a129f799a6df2b
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/summary.json
@@ -0,0 +1,106 @@
+{
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+    "auprc_phase_yready": 0.9866976504683982,
+    "f1_phase_yready": 0.9032258064516129,
+    "baseline_auroc_door_yext": 0.0018518518518518638,
+    "baseline_auprc_door_yext": 0.15202279553186904,
+    "baseline_auroc_time_yext": 0.9958730158730158,
+    "baseline_auprc_time_yext": 0.9710371357427363,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.27184466019417475,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e7256081f356deb6324cf3e858aa0d31681e92
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+      [
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+    "grasp_local_center": [
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+      0.09471180553609354,
+      -0.02358700847419226
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+    "grasp_region_extents": [
+      0.03,
+      0.015,
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+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      315
+    ]
+  },
+  "episode_offset": 4
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..9933a28eb4f441fa8217329726190e4b3d9d7c9f
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode4] analyzed 25/309 dense frames
+[episode4] analyzed 50/309 dense frames
+[episode4] analyzed 75/309 dense frames
+[episode4] analyzed 100/309 dense frames
+[episode4] analyzed 125/309 dense frames
+[episode4] analyzed 150/309 dense frames
+[episode4] analyzed 175/309 dense frames
+[episode4] analyzed 200/309 dense frames
+[episode4] analyzed 225/309 dense frames
+[episode4] analyzed 250/309 dense frames
+[episode4] analyzed 275/309 dense frames
+[episode4] analyzed 300/309 dense frames
+[episode4] analyzed 309/309 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
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+    "ppre_cross_frame": 209.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 207.0,
+    "retrieve_cross_frame": 208.0,
+    "ready_cross_frame": 225.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.05825242718446602,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.656957928802589,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.656957928802589,
+    "auroc_ppre_ypre": 0.816758063017009,
+    "auprc_ppre_ypre": 0.9266681886771443,
+    "auroc_pext_yext": 1.0,
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+    "auprc_phase_yready": 0.9866976504683982,
+    "f1_phase_yready": 0.9032258064516129,
+    "baseline_auroc_door_yext": 0.0018518518518518638,
+    "baseline_auprc_door_yext": 0.15202279553186904,
+    "baseline_auroc_time_yext": 0.9958730158730158,
+    "baseline_auprc_time_yext": 0.9710371357427363,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.27184466019417475,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 209.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 207.0,
+    "retrieve_cross_frame": 208.0,
+    "ready_cross_frame": 225.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.05825242718446602,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.656957928802589,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.656957928802589,
+    "auroc_ppre_ypre": 0.816758063017009,
+    "auprc_ppre_ypre": 0.9266681886771443,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9950738916256158,
+    "auroc_phase_yready": 0.995079365079365,
+    "auprc_phase_yready": 0.9866976504683982,
+    "f1_phase_yready": 0.9032258064516129,
+    "baseline_auroc_door_yext": 0.0018518518518518638,
+    "baseline_auprc_door_yext": 0.15202279553186904,
+    "baseline_auroc_time_yext": 0.9958730158730158,
+    "baseline_auprc_time_yext": 0.9710371357427363,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.27184466019417475,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b4be895c44fd8d0bfed4979d90808982caf2413
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.dense.csv
@@ -0,0 +1,316 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec6aed26ddb36524d767dbe62d654fc090122c7a
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b8ddf9812db897a6746f7a25533c1c92e28d13
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode5",
+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "pext_cross_frame": 224,
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+  "retrieve_cross_frame": 207,
+  "ready_cross_frame": 226,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 1.0,
+  "dense_boundary_error_frames": 20.0,
+  "dense_boundary_error_fraction": 0.06349206349206349,
+  "key_boundary_error_to_retrieve_keyframes": 0.0,
+  "key_boundary_error_keyframes": 0.0,
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+  "pre_ready_hold_open_increases_pext": 0.0,
+  "pre_ready_hold_open_trials": 2.0,
+  "pre_ready_extract_success": 0.0,
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+  "pre_ready_wait_extract_success": 0.0,
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+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..b533372f25080ef39e0e0eea89666ceede0fff24
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/summary.json
@@ -0,0 +1,106 @@
+{
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+    "baseline_auroc_door_yext": 0.0,
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+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeea85533c541cd43cf9bdb406d2edfca72f2b1c
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
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+        0.6252874250360436,
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+        0.6251746471824625,
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+    ],
+    "grasp_local_center": [
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+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 5
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..4afd3406b931b865a6d75ab41715af83fd56a24e
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode5] analyzed 25/315 dense frames
+[episode5] analyzed 50/315 dense frames
+[episode5] analyzed 75/315 dense frames
+[episode5] analyzed 100/315 dense frames
+[episode5] analyzed 125/315 dense frames
+[episode5] analyzed 150/315 dense frames
+[episode5] analyzed 175/315 dense frames
+[episode5] analyzed 200/315 dense frames
+[episode5] analyzed 225/315 dense frames
+[episode5] analyzed 250/315 dense frames
+[episode5] analyzed 275/315 dense frames
+[episode5] analyzed 300/315 dense frames
+[episode5] analyzed 315/315 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 315.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 208.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 206.0,
+    "retrieve_cross_frame": 207.0,
+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06349206349206349,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.726984126984127,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.726984126984127,
+    "auroc_ppre_ypre": 0.7947090484411494,
+    "auprc_ppre_ypre": 0.9284830297397713,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9951774883165954,
+    "auprc_phase_yready": 0.9877973611704018,
+    "f1_phase_yready": 0.898989898989899,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1623813743341368,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28888888888888886,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 315.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 208.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 206.0,
+    "retrieve_cross_frame": 207.0,
+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06349206349206349,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.726984126984127,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.726984126984127,
+    "auroc_ppre_ypre": 0.7947090484411494,
+    "auprc_ppre_ypre": 0.9284830297397713,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9951774883165954,
+    "auprc_phase_yready": 0.9877973611704018,
+    "f1_phase_yready": 0.898989898989899,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1623813743341368,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28888888888888886,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbaa22f4e49c7652d33c5546075251d73c905a69
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.dense.csv
@@ -0,0 +1,329 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01e0e18eac1f4f318b3d12ad64f080c74b5bb1cc
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0dce95c0312cac611d374fb6a1c3c094cf74981
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
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+  "phase_switch_falls": 0,
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+  "retrieve_cross_frame": 214,
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+  "ordering_ok": true,
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+  "dense_boundary_error_fraction": 0.054878048780487805,
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+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73acac1ba6c82df47d53ff8574da2da72eef7d0
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/summary.json
@@ -0,0 +1,106 @@
+{
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+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c905d2f91dd5850886f0165c29febf53882272
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
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+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      315
+    ]
+  },
+  "episode_offset": 6
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..829ce47f7f8b17a76a6bdebfdd91c5ccd27224bf
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/worker.log
@@ -0,0 +1,139 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
+[episode6] analyzed 50/328 dense frames
+[episode6] analyzed 75/328 dense frames
+[episode6] analyzed 100/328 dense frames
+[episode6] analyzed 125/328 dense frames
+[episode6] analyzed 150/328 dense frames
+[episode6] analyzed 175/328 dense frames
+[episode6] analyzed 200/328 dense frames
+[episode6] analyzed 225/328 dense frames
+[episode6] analyzed 250/328 dense frames
+[episode6] analyzed 275/328 dense frames
+[episode6] analyzed 300/328 dense frames
+[episode6] analyzed 325/328 dense frames
+[episode6] analyzed 328/328 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 328.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 215.0,
+    "pext_cross_frame": 231.0,
+    "phase_cross_frame": 213.0,
+    "retrieve_cross_frame": 214.0,
+    "ready_cross_frame": 231.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.054878048780487805,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6859756097560976,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6859756097560976,
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+    "baseline_auroc_door_yext": 0.0019755747126436692,
+    "baseline_auprc_door_yext": 0.16486753731699444,
+    "baseline_auroc_time_yext": 0.9959141522988506,
+    "baseline_auprc_time_yext": 0.971801328896813,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2926829268292683,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 328.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 215.0,
+    "pext_cross_frame": 231.0,
+    "phase_cross_frame": 213.0,
+    "retrieve_cross_frame": 214.0,
+    "ready_cross_frame": 231.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.054878048780487805,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6859756097560976,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6859756097560976,
+    "auroc_ppre_ypre": 0.7450269687162892,
+    "auprc_ppre_ypre": 0.8957461031935492,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9968313473468112,
+    "auprc_phase_yready": 0.992180784839236,
+    "f1_phase_yready": 0.9150943396226415,
+    "baseline_auroc_door_yext": 0.0019755747126436692,
+    "baseline_auprc_door_yext": 0.16486753731699444,
+    "baseline_auroc_time_yext": 0.9959141522988506,
+    "baseline_auprc_time_yext": 0.971801328896813,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2926829268292683,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.dense.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a599e932810308dce74d3f607069f6550f5093e7
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.dense.csv
@@ -0,0 +1,304 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.keyframes.csv b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95f9ec9479c09ec3ce22a6386159da3c8162434b
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.metrics.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b00d045d5fa67a8d3f48f11e2f71904474faad
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.metrics.json
@@ -0,0 +1,53 @@
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/summary.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..c294fac0630f2e53a9f41964db64676ff6645f71
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/summary.json
@@ -0,0 +1,106 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/templates.json b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..2656e3d9b781b41df8df3cdac7cc7d8b909e9515
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/templates.json
@@ -0,0 +1,234 @@
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+      310,
+      315
+    ]
+  },
+  "episode_offset": 7
+}
\ No newline at end of file
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/worker.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..28da5fed0954980efda7242e644ad0de210006f2
--- /dev/null
+++ b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode7] analyzed 25/303 dense frames
+[episode7] analyzed 50/303 dense frames
+[episode7] analyzed 75/303 dense frames
+[episode7] analyzed 100/303 dense frames
+[episode7] analyzed 125/303 dense frames
+[episode7] analyzed 150/303 dense frames
+[episode7] analyzed 175/303 dense frames
+[episode7] analyzed 200/303 dense frames
+[episode7] analyzed 225/303 dense frames
+[episode7] analyzed 250/303 dense frames
+[episode7] analyzed 275/303 dense frames
+[episode7] analyzed 300/303 dense frames
+[episode7] analyzed 303/303 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 303.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 204.0,
+    "pext_cross_frame": 219.0,
+    "phase_cross_frame": 202.0,
+    "retrieve_cross_frame": 203.0,
+    "ready_cross_frame": 221.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.0627062706270627,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.693069306930693,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.693069306930693,
+    "auroc_ppre_ypre": 0.8415258576548899,
+    "auprc_ppre_ypre": 0.9376967873808765,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9950248756218906,
+    "auroc_phase_yready": 0.994812934554685,
+    "auprc_phase_yready": 0.9861449767418912,
+    "f1_phase_yready": 0.8961748633879781,
+    "baseline_auroc_door_yext": 0.011400289178066927,
+    "baseline_auprc_door_yext": 0.1504492548776507,
+    "baseline_auroc_time_yext": 0.9868201534868202,
+    "baseline_auprc_time_yext": 0.8951027035985593,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.26732673267326734,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 303.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 204.0,
+    "pext_cross_frame": 219.0,
+    "phase_cross_frame": 202.0,
+    "retrieve_cross_frame": 203.0,
+    "ready_cross_frame": 221.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.0627062706270627,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.693069306930693,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.693069306930693,
+    "auroc_ppre_ypre": 0.8415258576548899,
+    "auprc_ppre_ypre": 0.9376967873808765,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9950248756218906,
+    "auroc_phase_yready": 0.994812934554685,
+    "auprc_phase_yready": 0.9861449767418912,
+    "f1_phase_yready": 0.8961748633879781,
+    "baseline_auroc_door_yext": 0.011400289178066927,
+    "baseline_auprc_door_yext": 0.1504492548776507,
+    "baseline_auroc_time_yext": 0.9868201534868202,
+    "baseline_auprc_time_yext": 0.8951027035985593,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.26732673267326734,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/xvfb.log b/artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_00/worker.log b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_00/worker.log
index a45eb80c4409154daf905d17b699cdfa7522b25b..26754cd67cfe62313289d40ebd85e5f59116475b 100644
--- a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_00/worker.log
+++ b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_00/worker.log
@@ -7,3 +7,31 @@ WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda')
 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, '')).
 [episode0] analyzed 25/329 dense frames
 [episode0] analyzed 50/329 dense frames
+[episode0] analyzed 75/329 dense frames
+[episode0] analyzed 100/329 dense frames
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+Traceback (most recent call last):
+  File "/workspace/VLAdaptorBench_upload/code/scripts/run_oven_label_study.py", line 13, in <module>
+    raise SystemExit(main())
+  File "/workspace/VLAdaptorBench_upload/code/rr_label_study/oven_study.py", line 1609, in main
+    )
+  File "/workspace/VLAdaptorBench_upload/code/rr_label_study/oven_study.py", line 1566, in run_study
+    
+  File "/workspace/VLAdaptorBench_upload/code/rr_label_study/oven_study.py", line 1371, in _analyze_episode
+    _hold_open_branch(task, templates)
+  File "/workspace/VLAdaptorBench_upload/code/rr_label_study/oven_study.py", line 388, in step_to
+    self._apply_gripper_replay(self.demo[next_index])
+  File "/workspace/VLAdaptorBench_upload/code/rr_label_study/oven_study.py", line 428, in _apply_gripper_replay
+    float(all(x > 0.9 for x in self.task._scene.robot.right_gripper.get_open_amount())),
+  File "/workspace/pyrep/pyrep/robots/end_effectors/gripper.py", line 139, in get_open_amount
+    _, joint_intervals_list = self.get_joint_intervals()
+  File "/workspace/pyrep/pyrep/robots/robot_component.py", line 199, in get_joint_intervals
+    c, i = j.get_joint_interval()
+  File "/workspace/pyrep/pyrep/objects/joint.py", line 161, in get_joint_interval
+    cyclic, interval = sim.simGetJointInterval(self._handle)
+  File "/workspace/pyrep/pyrep/backend/sim.py", line 208, in simGetJointInterval
+    _check_return(ret)
+  File "/workspace/pyrep/pyrep/backend/sim.py", line 27, in _check_return
+    raise RuntimeError(
+RuntimeError: The call failed on the V-REP side. Return value: -1
diff --git a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_01/worker.log b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_01/worker.log
index fcfaad323300b528bd2756e01dedeac710e074ab..f219ae2e2b6db3157617b4ba0e6e28d3bdeadae2 100644
--- a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_01/worker.log
+++ b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_01/worker.log
@@ -3,3 +3,4 @@ WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda')
 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, '')).
 WARNING: QApplication was not created in the main() thread.
 WARNING:root:not sure how _robot_shapes are used is used.
+[episode1] analyzed 25/312 dense frames
diff --git a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_02/worker.log b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_02/worker.log
index 195162cfd71ad932e1b0a4d2b6e784bd3f2213ae..3ede560b03d8da0f5411725aa733daa3c766ccdc 100644
--- a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_02/worker.log
+++ b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_02/worker.log
@@ -7,3 +7,5 @@ ERROR:root:robot is in collision
 ERROR:root:Error when checking waypoints. Exception is: 
 [episode2] analyzed 25/325 dense frames
 [episode2] analyzed 50/325 dense frames
+[episode2] analyzed 75/325 dense frames
+[episode2] analyzed 100/325 dense frames
diff --git a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log
index fcfaad323300b528bd2756e01dedeac710e074ab..f92bd5a21eba8f9fcb7a30f6f766c5052483dd8d 100644
--- a/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log
+++ b/artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log
@@ -3,3 +3,4 @@ WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda')
 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, '')).
 WARNING: QApplication was not created in the main() thread.
 WARNING:root:not sure how _robot_shapes are used is used.
+[episode3] analyzed 25/286 dense frames
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd24b38166ecfb125568bb499187227fb060343
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
+      [
+        -0.3625197505146321,
+        0.08372429131714548,
+        0.13691903626392898,
+        0.6416348447407467,
+        0.6410872565393582,
+        0.29868034011062794,
+        0.2968196589661076
+      ],
+      [
+        -0.32979445983162176,
+        0.08659364792515764,
+        0.12045077578809749,
+        0.6287469690798895,
+        0.6287301318727057,
+        0.3243430018231259,
+        0.32276506520462594
+      ],
+      [
+        -0.2910925493361141,
+        0.08985276158129711,
+        0.10101096601604831,
+        0.6124184244028302,
+        0.6122709767290938,
+        0.35430518709849695,
+        0.35289624381998647
+      ],
+      [
+        -0.244818538450706,
+        0.09371070170750202,
+        0.07770067425331129,
+        0.5909841767637374,
+        0.5908549510320831,
+        0.3889344056030255,
+        0.38776043866540033
+      ],
+      [
+        -0.19036243621330934,
+        0.09824358579289771,
+        0.04990667629200307,
+        0.5635900638946065,
+        0.5631538374566398,
+        0.4277702591171187,
+        0.4268917903310006
+      ],
+      [
+        -0.12217129631756263,
+        0.09345070134195246,
+        -0.006546997831216039,
+        0.5503450945485194,
+        0.5264249147312487,
+        0.4450459711257041,
+        0.47109571176286236
+      ],
+      [
+        -0.11087643306877748,
+        0.09014108451750254,
+        -0.031580235354697894,
+        0.5622041544757288,
+        0.5226343775452266,
+        0.43323659021636735,
+        0.472319651291199
+      ]
+    ],
+    "pregrasp_rel_pose": [
+      -0.12217129631756263,
+      0.09345070134195246,
+      -0.006546997831216039,
+      0.5503450945485194,
+      0.5264249147312487,
+      0.4450459711257041,
+      0.47109571176286236
+    ],
+    "grasp_rel_pose": [
+      -0.09865615619553114,
+      0.09471180553609355,
+      -0.023587008474192483,
+      0.5452601219922814,
+      0.5150377871073674,
+      0.45379910210390734,
+      0.48113808012481835
+    ],
+    "retreat_rel_poses": [
+      [
+        0.2548525929450989,
+        0.23748670518398285,
+        0.292730450630188,
+        0.3300291728725241,
+        0.627796734434498,
+        0.6244628081014154,
+        0.3271058033489361
+      ],
+      [
+        0.22123366594314575,
+        0.20692090690135956,
+        0.3001290559768677,
+        0.3293369490711715,
+        0.6272174893562581,
+        0.6253236114995244,
+        0.3272701879538016
+      ],
+      [
+        0.17805954813957214,
+        0.16776257753372192,
+        0.3092261552810669,
+        0.3292203946981642,
+        0.627092205167199,
+        0.6254558193462786,
+        0.3273748859934127
+      ],
+      [
+        0.132161945104599,
+        0.1261904537677765,
+        0.31862151622772217,
+        0.32922833561062037,
+        0.6270130163004302,
+        0.6255370861132601,
+        0.32736330630941085
+      ],
+      [
+        0.05666536092758179,
+        0.058310166001319885,
+        0.33417391777038574,
+        0.3290531759368521,
+        0.6267400620289424,
+        0.6259557840834131,
+        0.3272617582705744
+      ],
+      [
+        0.0558415949344635,
+        0.05751470848917961,
+        0.3844491243362427,
+        0.32944931283048395,
+        0.6271554580797323,
+        0.6255767695203596,
+        0.3267918100454689
+      ],
+      [
+        0.05576580762863159,
+        0.053012214601039886,
+        0.5137358903884888,
+        0.3352571906446373,
+        0.6275228042160846,
+        0.6205178281888475,
+        0.329811114442256
+      ],
+      [
+        0.05594903230667114,
+        0.05725332349538803,
+        0.6016567945480347,
+        0.3290406683903203,
+        0.6269357648722236,
+        0.625839814295268,
+        0.3271212498634039
+      ],
+      [
+        0.11017268896102905,
+        0.09445947408676147,
+        0.6008111238479614,
+        0.3295905054305836,
+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
+        0.1597837209701538,
+        0.1288578361272812,
+        0.6011183261871338,
+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..23e308b3ba76ec1d1dba430eca5440dbded64d3d
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/worker.log
@@ -0,0 +1,25 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+[episode0] analyzed 25/329 dense frames
+[episode0] analyzed 50/329 dense frames
+[episode0] analyzed 75/329 dense frames
+[episode0] analyzed 100/329 dense frames
+[episode0] analyzed 125/329 dense frames
+[episode0] analyzed 150/329 dense frames
+[episode0] analyzed 175/329 dense frames
+[episode0] analyzed 200/329 dense frames
+[episode0] analyzed 225/329 dense frames
+[episode0] analyzed 250/329 dense frames
+[episode0] analyzed 275/329 dense frames
+[episode0] analyzed 300/329 dense frames
+[episode0] analyzed 325/329 dense frames
+[episode0] analyzed 329/329 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95215): GLib-CRITICAL **: 04:06:22.087: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f5b72421c1a6ef4740b355b5232b81a96af466
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
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+    "grasp_local_center": [
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+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
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+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
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+    "grasp": 234,
+    "right_close": 91,
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+  "episode_offset": 1
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..aa352e02fb8a4a1cb435d305028447a6e15b2ec5
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/worker.log
@@ -0,0 +1,22 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode1] analyzed 25/312 dense frames
+[episode1] analyzed 50/312 dense frames
+[episode1] analyzed 75/312 dense frames
+[episode1] analyzed 100/312 dense frames
+[episode1] analyzed 125/312 dense frames
+[episode1] analyzed 150/312 dense frames
+[episode1] analyzed 175/312 dense frames
+[episode1] analyzed 200/312 dense frames
+[episode1] analyzed 225/312 dense frames
+[episode1] analyzed 250/312 dense frames
+[episode1] analyzed 275/312 dense frames
+[episode1] analyzed 300/312 dense frames
+[episode1] analyzed 312/312 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95314): GLib-CRITICAL **: 04:11:13.899: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dda726b23f40fd28ad9fe21e9b7add2683a5957
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
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+    "reference_tray_height": 1.0472617149353027,
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+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
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+    "approach": [
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+  },
+  "episode_offset": 2
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..ee67d992090130c5322c05a3f2ed1a781308ef2c
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/worker.log
@@ -0,0 +1,24 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[episode2] analyzed 25/325 dense frames
+[episode2] analyzed 50/325 dense frames
+[episode2] analyzed 75/325 dense frames
+[episode2] analyzed 100/325 dense frames
+[episode2] analyzed 125/325 dense frames
+[episode2] analyzed 150/325 dense frames
+[episode2] analyzed 175/325 dense frames
+[episode2] analyzed 200/325 dense frames
+[episode2] analyzed 225/325 dense frames
+[episode2] analyzed 250/325 dense frames
+[episode2] analyzed 275/325 dense frames
+[episode2] analyzed 300/325 dense frames
+[episode2] analyzed 325/325 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95413): GLib-CRITICAL **: 04:07:22.195: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdadf5dae3dd168048dc87820f4524a58e0f771e
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..010be0a5a54e0fe9ede1eb44d13ef657e327e1da
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/worker.log
@@ -0,0 +1,21 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode3] analyzed 25/286 dense frames
+[episode3] analyzed 50/286 dense frames
+[episode3] analyzed 75/286 dense frames
+[episode3] analyzed 100/286 dense frames
+[episode3] analyzed 125/286 dense frames
+[episode3] analyzed 150/286 dense frames
+[episode3] analyzed 175/286 dense frames
+[episode3] analyzed 200/286 dense frames
+[episode3] analyzed 225/286 dense frames
+[episode3] analyzed 250/286 dense frames
+[episode3] analyzed 275/286 dense frames
+[episode3] analyzed 286/286 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95512): GLib-CRITICAL **: 04:09:27.049: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e7256081f356deb6324cf3e858aa0d31681e92
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/templates.json
@@ -0,0 +1,234 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..abe83a137bc1df6155ff44e73910d449812f2e3d
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/worker.log
@@ -0,0 +1,22 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode4] analyzed 25/309 dense frames
+[episode4] analyzed 50/309 dense frames
+[episode4] analyzed 75/309 dense frames
+[episode4] analyzed 100/309 dense frames
+[episode4] analyzed 125/309 dense frames
+[episode4] analyzed 150/309 dense frames
+[episode4] analyzed 175/309 dense frames
+[episode4] analyzed 200/309 dense frames
+[episode4] analyzed 225/309 dense frames
+[episode4] analyzed 250/309 dense frames
+[episode4] analyzed 275/309 dense frames
+[episode4] analyzed 300/309 dense frames
+[episode4] analyzed 309/309 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95523): GLib-CRITICAL **: 04:08:59.359: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeea85533c541cd43cf9bdb406d2edfca72f2b1c
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/templates.json
@@ -0,0 +1,234 @@
+{
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+    "mask_handle_ids": [
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+  },
+  "template_episode": "episode0",
+  "template_frames": {
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+    "grasp": 234,
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+      284,
+      295,
+      305,
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+      315
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+  },
+  "episode_offset": 5
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..b733e2cc8b296ae8916c6de70d96b326ca43dff1
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/worker.log
@@ -0,0 +1,22 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode5] analyzed 25/315 dense frames
+[episode5] analyzed 50/315 dense frames
+[episode5] analyzed 75/315 dense frames
+[episode5] analyzed 100/315 dense frames
+[episode5] analyzed 125/315 dense frames
+[episode5] analyzed 150/315 dense frames
+[episode5] analyzed 175/315 dense frames
+[episode5] analyzed 200/315 dense frames
+[episode5] analyzed 225/315 dense frames
+[episode5] analyzed 250/315 dense frames
+[episode5] analyzed 275/315 dense frames
+[episode5] analyzed 300/315 dense frames
+[episode5] analyzed 315/315 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95623): GLib-CRITICAL **: 04:07:13.382: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c905d2f91dd5850886f0165c29febf53882272
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/templates.json
@@ -0,0 +1,234 @@
+{
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+  "template_episode": "episode0",
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+  "episode_offset": 6
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..966bc3efff7d091d1dbf1b15211f6538d1a9dee6
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/worker.log
@@ -0,0 +1,23 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
+[episode6] analyzed 50/328 dense frames
+[episode6] analyzed 75/328 dense frames
+[episode6] analyzed 100/328 dense frames
+[episode6] analyzed 125/328 dense frames
+[episode6] analyzed 150/328 dense frames
+[episode6] analyzed 175/328 dense frames
+[episode6] analyzed 200/328 dense frames
+[episode6] analyzed 225/328 dense frames
+[episode6] analyzed 250/328 dense frames
+[episode6] analyzed 275/328 dense frames
+[episode6] analyzed 300/328 dense frames
+[episode6] analyzed 325/328 dense frames
+[episode6] analyzed 328/328 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95722): GLib-CRITICAL **: 04:07:15.826: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/templates.json b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..2656e3d9b781b41df8df3cdac7cc7d8b909e9515
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
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+  "template_episode": "episode0",
+  "template_frames": {
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+  "episode_offset": 7
+}
\ No newline at end of file
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/worker.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..db5d6714a5199ee6851fce21a29d90f201438151
--- /dev/null
+++ b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/worker.log
@@ -0,0 +1,22 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode7] analyzed 25/303 dense frames
+[episode7] analyzed 50/303 dense frames
+[episode7] analyzed 75/303 dense frames
+[episode7] analyzed 100/303 dense frames
+[episode7] analyzed 125/303 dense frames
+[episode7] analyzed 150/303 dense frames
+[episode7] analyzed 175/303 dense frames
+[episode7] analyzed 200/303 dense frames
+[episode7] analyzed 225/303 dense frames
+[episode7] analyzed 250/303 dense frames
+[episode7] analyzed 275/303 dense frames
+[episode7] analyzed 300/303 dense frames
+[episode7] analyzed 303/303 dense frames
+Attribute Qt::AA_UseDesktopOpenGL must be set before QCoreApplication is created.
+WARNING: QApplication was not created in the main() thread.
+
+(process:95822): GLib-CRITICAL **: 04:04:57.733: g_main_context_push_thread_default: assertion 'acquired_context' failed
diff --git a/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/xvfb.log b/artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70cb5adb4d19e2088277a490e6a9860e986064b
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_summary.json
@@ -0,0 +1,106 @@
+{
+  "num_episodes": 8,
+  "mean_metrics": {
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+    "num_keyframes": 14.0,
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_workers.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_workers.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f364d93ed60f68c20316d5878942d591018c3fc
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_workers.json
@@ -0,0 +1,58 @@
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\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53c503db63ce0dba9752bedd086f8422e6642f29
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.dense.csv
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2ed3ecb921f6679daefbf1604dc6a33585ccf14
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..147f959eb1d786c5369259dc7a1319d7d41a0663
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode0",
+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "retrieve_cross_frame": 215,
+  "ready_cross_frame": 234,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 1.0,
+  "dense_boundary_error_frames": 20.0,
+  "dense_boundary_error_fraction": 0.060790273556231005,
+  "key_boundary_error_to_retrieve_keyframes": 0.0,
+  "key_boundary_error_keyframes": 0.0,
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+  "pre_ready_open_more_trials": 2.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
+  "pre_ready_hold_open_trials": 2.0,
+  "pre_ready_extract_success": 0.0,
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+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3f440a52f21f021156c777f630850744daaeeb
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/summary.json
@@ -0,0 +1,106 @@
+{
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+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
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+    "key_boundary_error_keyframes": 0.0,
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+    "auroc_phase_yretrieve": 1.0,
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+    "baseline_auroc_door_yext": 0.0,
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+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
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+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd24b38166ecfb125568bb499187227fb060343
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+      0.48113808012481835
+    ],
+    "retreat_rel_poses": [
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+        0.6252874250360436,
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+        0.3293548308249215,
+        0.627458650421648,
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+        0.32678351642036935
+      ],
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+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..30606e73ebaa2d9769bde8ed6e8a664de4c61db8
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/worker.log
@@ -0,0 +1,149 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+[episode0] analyzed 25/329 dense frames
+[episode0] analyzed 50/329 dense frames
+[episode0] analyzed 75/329 dense frames
+[episode0] analyzed 100/329 dense frames
+[episode0] analyzed 125/329 dense frames
+[episode0] analyzed 150/329 dense frames
+[episode0] analyzed 175/329 dense frames
+[episode0] analyzed 200/329 dense frames
+[episode0] analyzed 225/329 dense frames
+[episode0] analyzed 250/329 dense frames
+[episode0] analyzed 275/329 dense frames
+[episode0] analyzed 300/329 dense frames
+[episode0] analyzed 325/329 dense frames
+[episode0] analyzed 329/329 dense frames
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+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, '')).
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 329.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
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+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
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+    "auprc_phase_yready": 0.9955174255664128,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.16605628948799386,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 329.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 216.0,
+    "pext_cross_frame": 232.0,
+    "phase_cross_frame": 214.0,
+    "retrieve_cross_frame": 215.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.060790273556231005,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.37333333333333335,
+    "auprc_vret_ypre_three": 0.6271326031029801,
+    "auroc_vret_ypre_full": 0.37333333333333335,
+    "auprc_vret_ypre_full": 0.6268323582996906,
+    "auroc_ppre_ypre": 0.7608547008547009,
+    "auprc_ppre_ypre": 0.9029342359139458,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9982456140350877,
+    "auprc_phase_yready": 0.9955174255664128,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.16605628948799386,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.030927835051546393,
+    "baseline_auprc_whole_vis_yext": 0.16672328515787038,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a896eb2dffed0e2f89daae335c6a874e813b616
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.dense.csv
@@ -0,0 +1,313 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f99abc09d880311fdebf4a906c4ebc1eaf863966
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85211ec940710892f790008518c68029e3ff8b28
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
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+  "phase_switch_falls": 0,
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+  "phase_cross_frame": 225,
+  "retrieve_cross_frame": 225,
+  "ready_cross_frame": 238,
+  "ordering_ok": true,
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..83093cd6af941aa4e3d6765c51ba539b53708698
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/summary.json
@@ -0,0 +1,106 @@
+{
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+  },
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+  "reversion_rate": 0.0,
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f5b72421c1a6ef4740b355b5232b81a96af466
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/templates.json
@@ -0,0 +1,234 @@
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+      ],
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+        0.05725332349538803,
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+        0.3290406683903203,
+        0.6269357648722236,
+        0.625839814295268,
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+      ],
+      [
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+        0.09445947408676147,
+        0.6008111238479614,
+        0.3295905054305836,
+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
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+        0.6011183261871338,
+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
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+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 1
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..d994692d137fd18cb1cdf2b1c35d6b65d2169251
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode1] analyzed 25/312 dense frames
+[episode1] analyzed 50/312 dense frames
+[episode1] analyzed 75/312 dense frames
+[episode1] analyzed 100/312 dense frames
+[episode1] analyzed 125/312 dense frames
+[episode1] analyzed 150/312 dense frames
+[episode1] analyzed 175/312 dense frames
+[episode1] analyzed 200/312 dense frames
+[episode1] analyzed 225/312 dense frames
+[episode1] analyzed 250/312 dense frames
+[episode1] analyzed 275/312 dense frames
+[episode1] analyzed 300/312 dense frames
+[episode1] analyzed 312/312 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 312.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 226.0,
+    "pext_cross_frame": 237.0,
+    "phase_cross_frame": 225.0,
+    "retrieve_cross_frame": 225.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": 0.0,
+    "dense_boundary_error_frames": 13.0,
+    "dense_boundary_error_fraction": 0.041666666666666664,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.625,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.625,
+    "auroc_ppre_ypre": 0.8655270655270655,
+    "auprc_ppre_ypre": 0.9417908593871297,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 1.0,
+    "auroc_phase_yready": 0.9960254372019077,
+    "auprc_phase_yready": 0.9869119081178965,
+    "f1_phase_yready": 0.9192546583850931,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1327805535676393,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2403846153846154,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 312.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 226.0,
+    "pext_cross_frame": 237.0,
+    "phase_cross_frame": 225.0,
+    "retrieve_cross_frame": 225.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": 0.0,
+    "dense_boundary_error_frames": 13.0,
+    "dense_boundary_error_fraction": 0.041666666666666664,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.625,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.625,
+    "auroc_ppre_ypre": 0.8655270655270655,
+    "auprc_ppre_ypre": 0.9417908593871297,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 1.0,
+    "auroc_phase_yready": 0.9960254372019077,
+    "auprc_phase_yready": 0.9869119081178965,
+    "f1_phase_yready": 0.9192546583850931,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1327805535676393,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2403846153846154,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..614abbca8ee6c17c6ec5a720465fad58ca0c0f1d
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.dense.csv
@@ -0,0 +1,326 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e9c6f1ae7c2d671d80821830c6ba30e1fae24677
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec9f4db50ec8b55194a3890c226e3914fe324a6
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.metrics.json
@@ -0,0 +1,53 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..5649ab129a00526cd4959823de6e7ee5f80ae514
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/summary.json
@@ -0,0 +1,106 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dda726b23f40fd28ad9fe21e9b7add2683a5957
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/templates.json
@@ -0,0 +1,234 @@
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+        0.3290406683903203,
+        0.6269357648722236,
+        0.625839814295268,
+        0.3271212498634039
+      ],
+      [
+        0.11017268896102905,
+        0.09445947408676147,
+        0.6008111238479614,
+        0.3295905054305836,
+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
+        0.1597837209701538,
+        0.1288578361272812,
+        0.6011183261871338,
+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 2
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..810ef7770b649034fbadc37be970a6549f028c3d
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/worker.log
@@ -0,0 +1,148 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[episode2] analyzed 25/325 dense frames
+[episode2] analyzed 50/325 dense frames
+[episode2] analyzed 75/325 dense frames
+[episode2] analyzed 100/325 dense frames
+[episode2] analyzed 125/325 dense frames
+[episode2] analyzed 150/325 dense frames
+[episode2] analyzed 175/325 dense frames
+[episode2] analyzed 200/325 dense frames
+[episode2] analyzed 225/325 dense frames
+[episode2] analyzed 250/325 dense frames
+[episode2] analyzed 275/325 dense frames
+[episode2] analyzed 300/325 dense frames
+[episode2] analyzed 325/325 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 218.0,
+    "pext_cross_frame": 234.0,
+    "phase_cross_frame": 216.0,
+    "retrieve_cross_frame": 217.0,
+    "ready_cross_frame": 235.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.05846153846153846,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6923076923076923,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6923076923076923,
+    "auroc_ppre_ypre": 0.8047555555555557,
+    "auprc_ppre_ypre": 0.9232991976058789,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0000000000000002,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9957919621749408,
+    "auprc_phase_yready": 0.9888645911006677,
+    "f1_phase_yready": 0.9045226130653267,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15683993437814253,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 218.0,
+    "pext_cross_frame": 234.0,
+    "phase_cross_frame": 216.0,
+    "retrieve_cross_frame": 217.0,
+    "ready_cross_frame": 235.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 19.0,
+    "dense_boundary_error_fraction": 0.05846153846153846,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6923076923076923,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6923076923076923,
+    "auroc_ppre_ypre": 0.8047555555555557,
+    "auprc_ppre_ypre": 0.9232991976058789,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0000000000000002,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9957919621749408,
+    "auprc_phase_yready": 0.9888645911006677,
+    "f1_phase_yready": 0.9045226130653267,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15683993437814253,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e037531bb6bc8417e4723edadd05c216b72fbc0
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.dense.csv
@@ -0,0 +1,287 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f1350d322d583f2477f5a555031fedda722e54c
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0a5d2b9e4a0f6cd5edd08e94e99f1398616818
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "ready_cross_frame": 210,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 1.0,
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+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd00bae3530151c72832225d94a0cfb4df7fb5a2
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/summary.json
@@ -0,0 +1,106 @@
+{
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+    "auprc_vret_ypre_full": 0.6573426573426573,
+    "auroc_ppre_ypre": 0.8461788970907512,
+    "auprc_ppre_ypre": 0.938337329216222,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9944134078212291,
+    "auroc_phase_yready": 0.9949874686716792,
+    "auprc_phase_yready": 0.9856582839899494,
+    "f1_phase_yready": 0.9156626506024096,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15038960764388035,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2692307692307692,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdadf5dae3dd168048dc87820f4524a58e0f771e
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/templates.json
@@ -0,0 +1,234 @@
+{
+  "templates": {
+    "approach_rel_poses": [
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+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
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+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      305,
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+      315
+    ]
+  },
+  "episode_offset": 3
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..7219cccb2302c770107c287c979c8f6e0fc6284c
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/worker.log
@@ -0,0 +1,141 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode3] analyzed 25/286 dense frames
+[episode3] analyzed 50/286 dense frames
+[episode3] analyzed 75/286 dense frames
+[episode3] analyzed 100/286 dense frames
+[episode3] analyzed 125/286 dense frames
+[episode3] analyzed 150/286 dense frames
+[episode3] analyzed 175/286 dense frames
+[episode3] analyzed 200/286 dense frames
+[episode3] analyzed 225/286 dense frames
+[episode3] analyzed 250/286 dense frames
+[episode3] analyzed 275/286 dense frames
+[episode3] analyzed 286/286 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint2 - 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, 'waypoint2 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint2 - 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, 'waypoint2 - DualPanda'), (True, '')).
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 286.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 197.0,
+    "pext_cross_frame": 209.0,
+    "phase_cross_frame": 196.0,
+    "retrieve_cross_frame": 197.0,
+    "ready_cross_frame": 210.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 14.0,
+    "dense_boundary_error_fraction": 0.04895104895104895,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6573426573426573,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6573426573426573,
+    "auroc_ppre_ypre": 0.8461788970907512,
+    "auprc_ppre_ypre": 0.938337329216222,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9944134078212291,
+    "auroc_phase_yready": 0.9949874686716792,
+    "auprc_phase_yready": 0.9856582839899494,
+    "f1_phase_yready": 0.9156626506024096,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15038960764388035,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2692307692307692,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 286.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 197.0,
+    "pext_cross_frame": 209.0,
+    "phase_cross_frame": 196.0,
+    "retrieve_cross_frame": 197.0,
+    "ready_cross_frame": 210.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 14.0,
+    "dense_boundary_error_fraction": 0.04895104895104895,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6573426573426573,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6573426573426573,
+    "auroc_ppre_ypre": 0.8461788970907512,
+    "auprc_ppre_ypre": 0.938337329216222,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9944134078212291,
+    "auroc_phase_yready": 0.9949874686716792,
+    "auprc_phase_yready": 0.9856582839899494,
+    "f1_phase_yready": 0.9156626506024096,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15038960764388035,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2692307692307692,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8faeb95c1fc12721a97780060e5a2e128058ec01
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.dense.csv
@@ -0,0 +1,310 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c383394b116ba1eae5f2a8e44bce857f5c5a805
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebaba37fe699707f095e05ff2116040594e3c712
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "ordering_ok": true,
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+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd51419e16c69281c88fbcbd683862caaacc3f0
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/summary.json
@@ -0,0 +1,106 @@
+{
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+    "post_ready_open_more_low_gain": 1.0,
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+  },
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+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e7256081f356deb6324cf3e858aa0d31681e92
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/templates.json
@@ -0,0 +1,234 @@
+{
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+      ],
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+    "grasp_local_center": [
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+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
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+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 4
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..f968dc85eb6d77f0f1651a92e9fdd9008fa52c63
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode4] analyzed 25/309 dense frames
+[episode4] analyzed 50/309 dense frames
+[episode4] analyzed 75/309 dense frames
+[episode4] analyzed 100/309 dense frames
+[episode4] analyzed 125/309 dense frames
+[episode4] analyzed 150/309 dense frames
+[episode4] analyzed 175/309 dense frames
+[episode4] analyzed 200/309 dense frames
+[episode4] analyzed 225/309 dense frames
+[episode4] analyzed 250/309 dense frames
+[episode4] analyzed 275/309 dense frames
+[episode4] analyzed 300/309 dense frames
+[episode4] analyzed 309/309 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 209.0,
+    "pext_cross_frame": 225.0,
+    "phase_cross_frame": 207.0,
+    "retrieve_cross_frame": 208.0,
+    "ready_cross_frame": 225.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.05825242718446602,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.656957928802589,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.656957928802589,
+    "auroc_ppre_ypre": 0.8161074449298263,
+    "auprc_ppre_ypre": 0.9265548428888862,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9950738916256158,
+    "auroc_phase_yready": 0.995079365079365,
+    "auprc_phase_yready": 0.9866976504683982,
+    "f1_phase_yready": 0.9032258064516129,
+    "baseline_auroc_door_yext": 0.0034118775988911452,
+    "baseline_auprc_door_yext": 0.1502296281963198,
+    "baseline_auroc_time_yext": 0.9962682588762128,
+    "baseline_auprc_time_yext": 0.9787661360479206,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2686084142394822,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 209.0,
+    "pext_cross_frame": 225.0,
+    "phase_cross_frame": 207.0,
+    "retrieve_cross_frame": 208.0,
+    "ready_cross_frame": 225.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 18.0,
+    "dense_boundary_error_fraction": 0.05825242718446602,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.656957928802589,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.656957928802589,
+    "auroc_ppre_ypre": 0.8161074449298263,
+    "auprc_ppre_ypre": 0.9265548428888862,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9950738916256158,
+    "auroc_phase_yready": 0.995079365079365,
+    "auprc_phase_yready": 0.9866976504683982,
+    "f1_phase_yready": 0.9032258064516129,
+    "baseline_auroc_door_yext": 0.0034118775988911452,
+    "baseline_auprc_door_yext": 0.1502296281963198,
+    "baseline_auroc_time_yext": 0.9962682588762128,
+    "baseline_auprc_time_yext": 0.9787661360479206,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2686084142394822,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22d63c67c48a7336f2d799c756b62938dacb6166
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.dense.csv
@@ -0,0 +1,316 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec6aed26ddb36524d767dbe62d654fc090122c7a
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.keyframes.csv
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e1e8f2dc8860772b09bfae0e1ee87b0ee090c7
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "ordering_ok": true,
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..80925a5a0e34eae2eb30a1f970fcca5f4dd62bb0
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/summary.json
@@ -0,0 +1,106 @@
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeea85533c541cd43cf9bdb406d2edfca72f2b1c
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/templates.json
@@ -0,0 +1,234 @@
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+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 5
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..8e47810aea6804f6c66e19d9a6b5a28704f7c9ab
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode5] analyzed 25/315 dense frames
+[episode5] analyzed 50/315 dense frames
+[episode5] analyzed 75/315 dense frames
+[episode5] analyzed 100/315 dense frames
+[episode5] analyzed 125/315 dense frames
+[episode5] analyzed 150/315 dense frames
+[episode5] analyzed 175/315 dense frames
+[episode5] analyzed 200/315 dense frames
+[episode5] analyzed 225/315 dense frames
+[episode5] analyzed 250/315 dense frames
+[episode5] analyzed 275/315 dense frames
+[episode5] analyzed 300/315 dense frames
+[episode5] analyzed 315/315 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 315.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 208.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 206.0,
+    "retrieve_cross_frame": 207.0,
+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06349206349206349,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.7301587301587301,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.7301587301587301,
+    "auroc_ppre_ypre": 0.7932480818414324,
+    "auprc_ppre_ypre": 0.9287467900351423,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9951774883165954,
+    "auprc_phase_yready": 0.9877973611704018,
+    "f1_phase_yready": 0.898989898989899,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1623813743341368,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28888888888888886,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 315.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 208.0,
+    "pext_cross_frame": 224.0,
+    "phase_cross_frame": 206.0,
+    "retrieve_cross_frame": 207.0,
+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06349206349206349,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.7301587301587301,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.7301587301587301,
+    "auroc_ppre_ypre": 0.7932480818414324,
+    "auprc_ppre_ypre": 0.9287467900351423,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9953917050691244,
+    "auroc_phase_yready": 0.9951774883165954,
+    "auprc_phase_yready": 0.9877973611704018,
+    "f1_phase_yready": 0.898989898989899,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1623813743341368,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28888888888888886,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fecc7eb2eaa96c241cf2eccfe5c371f8fde505c0
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.dense.csv
@@ -0,0 +1,329 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77fa65313b7ff553c299c7cab6171a544cd23cb6
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..669c98a0e1ac2b1ec89b792158b120cdf43bca91
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "ordering_ok": true,
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+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff416f307cf0b723d4af86b8a61398127574a26
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/summary.json
@@ -0,0 +1,106 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c905d2f91dd5850886f0165c29febf53882272
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/templates.json
@@ -0,0 +1,234 @@
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+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
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+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 6
+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..9225582363031a43254bbe28d875ca751a4e159b
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/worker.log
@@ -0,0 +1,139 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
+[episode6] analyzed 50/328 dense frames
+[episode6] analyzed 75/328 dense frames
+[episode6] analyzed 100/328 dense frames
+[episode6] analyzed 125/328 dense frames
+[episode6] analyzed 150/328 dense frames
+[episode6] analyzed 175/328 dense frames
+[episode6] analyzed 200/328 dense frames
+[episode6] analyzed 225/328 dense frames
+[episode6] analyzed 250/328 dense frames
+[episode6] analyzed 275/328 dense frames
+[episode6] analyzed 300/328 dense frames
+[episode6] analyzed 325/328 dense frames
+[episode6] analyzed 328/328 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 328.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 215.0,
+    "pext_cross_frame": 231.0,
+    "phase_cross_frame": 213.0,
+    "retrieve_cross_frame": 214.0,
+    "ready_cross_frame": 233.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06097560975609756,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6859756097560976,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6859756097560976,
+    "auroc_ppre_ypre": 0.7450269687162892,
+    "auprc_ppre_ypre": 0.8957461031935492,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9957533318274226,
+    "auprc_phase_yready": 0.9895230598272456,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0028286637931034357,
+    "baseline_auprc_door_yext": 0.16497098505198285,
+    "baseline_auroc_time_yext": 0.99609375,
+    "baseline_auprc_time_yext": 0.9767905815423157,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2926829268292683,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 1.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 1.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 328.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 215.0,
+    "pext_cross_frame": 231.0,
+    "phase_cross_frame": 213.0,
+    "retrieve_cross_frame": 214.0,
+    "ready_cross_frame": 233.0,
+    "dense_boundary_error_to_retrieve_frames": 1.0,
+    "dense_boundary_error_frames": 20.0,
+    "dense_boundary_error_fraction": 0.06097560975609756,
+    "key_boundary_error_to_retrieve_keyframes": 0.0,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.5,
+    "auprc_vret_ypre_three": 0.6859756097560976,
+    "auroc_vret_ypre_full": 0.5,
+    "auprc_vret_ypre_full": 0.6859756097560976,
+    "auroc_ppre_ypre": 0.7450269687162892,
+    "auprc_ppre_ypre": 0.8957461031935492,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": 1.0,
+    "auprc_phase_yretrieve": 1.0,
+    "f1_phase_yretrieve": 0.9956331877729258,
+    "auroc_phase_yready": 0.9957533318274226,
+    "auprc_phase_yready": 0.9895230598272456,
+    "f1_phase_yready": 0.9047619047619047,
+    "baseline_auroc_door_yext": 0.0028286637931034357,
+    "baseline_auprc_door_yext": 0.16497098505198285,
+    "baseline_auroc_time_yext": 0.99609375,
+    "baseline_auprc_time_yext": 0.9767905815423157,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.2926829268292683,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 1.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 1.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.dense.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62284dd69cde6926a123420d8d5c39cc214270b2
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.dense.csv
@@ -0,0 +1,304 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.keyframes.csv b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16def33510f657da4768181a467662f896e62a59
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.keyframes.csv
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diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.metrics.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7f15b231a6a1fc3bb47e2b2e3b72d4e2d7fc1d9
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.metrics.json
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/summary.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d5fa2614958f605eefa427700a64b7f64da32c3
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/summary.json
@@ -0,0 +1,106 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/templates.json b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..2656e3d9b781b41df8df3cdac7cc7d8b909e9515
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/templates.json
@@ -0,0 +1,234 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/worker.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..d06f4b4aa220952c4a19a9adfc9552d0a7fe87bb
--- /dev/null
+++ b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/worker.log
@@ -0,0 +1,138 @@
+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, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode7] analyzed 25/303 dense frames
+[episode7] analyzed 50/303 dense frames
+[episode7] analyzed 75/303 dense frames
+[episode7] analyzed 100/303 dense frames
+[episode7] analyzed 125/303 dense frames
+[episode7] analyzed 150/303 dense frames
+[episode7] analyzed 175/303 dense frames
+[episode7] analyzed 200/303 dense frames
+[episode7] analyzed 225/303 dense frames
+[episode7] analyzed 250/303 dense frames
+[episode7] analyzed 275/303 dense frames
+[episode7] analyzed 300/303 dense frames
+[episode7] analyzed 303/303 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
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+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/xvfb.log b/artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/xvfb.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/manual_metric_checks/episode0_frame210_all.png b/artifacts/results/manual_metric_checks/episode0_frame210_all.png
new file mode 100644
index 0000000000000000000000000000000000000000..227a04a33ea1ca25e44c5dac63a2d857cd15c335
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame210_all.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a36da6d2b8efc5792ec7c4ac4b94b1f83aeb9d7a48eab50ad42648a32bb15bd
+size 131337
diff --git a/artifacts/results/manual_metric_checks/episode0_frame210_path.png b/artifacts/results/manual_metric_checks/episode0_frame210_path.png
new file mode 100644
index 0000000000000000000000000000000000000000..154db568d43443371e9eba0dd0de79d3446f9a1d
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame210_path.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622ec295e0a083827c4b200969d01bc49cb64c0d94b9444ac36377ef3a2c53d6
+size 179948
diff --git a/artifacts/results/manual_metric_checks/episode0_frame210_visibility.png b/artifacts/results/manual_metric_checks/episode0_frame210_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dcc2bd56d2c330b7e90abcb91cb6207bb96c06f
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame210_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba42cec4d45cfc6b7bcdc90a4bb8291562c9619f57cfd5aa56f9dd2b1198e9da
+size 153560
diff --git a/artifacts/results/manual_metric_checks/episode0_frame232_all.png b/artifacts/results/manual_metric_checks/episode0_frame232_all.png
new file mode 100644
index 0000000000000000000000000000000000000000..43b3ea13f7e90785ed156d7b08cff3f8f5661009
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame232_all.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd6215d63c48b050f80e293ee7de55b7fb3487827c5549bad742feefb68df6f
+size 128479
diff --git a/artifacts/results/manual_metric_checks/episode0_frame232_path.png b/artifacts/results/manual_metric_checks/episode0_frame232_path.png
new file mode 100644
index 0000000000000000000000000000000000000000..7838874da4cadc2baa81f770d57e23c4db763c8d
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame232_path.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4ce2f16cc1f90fbdbe59e14d6ceb7abf764ef894242dcb3cebe8d4aedc3102
+size 180422
diff --git a/artifacts/results/manual_metric_checks/episode0_frame232_visibility.png b/artifacts/results/manual_metric_checks/episode0_frame232_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..3332a0cd34a01a8d19bbb10c754c68c95a4f8a28
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode0_frame232_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a69392aedca39a30289398111c877f8b3c96dda9eff4cd63d6f0c06df2f4d68
+size 150102
diff --git a/artifacts/results/manual_metric_checks/episode6_frame230_all.png b/artifacts/results/manual_metric_checks/episode6_frame230_all.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad5bbdd45fb5260a469f1a5012a751f9e1af4a06
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode6_frame230_all.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f627e640ed34e1c518cfaafd1dead8755c234c75609f7958c7c7222ea123386d
+size 124106
diff --git a/artifacts/results/manual_metric_checks/episode6_frame230_path.png b/artifacts/results/manual_metric_checks/episode6_frame230_path.png
new file mode 100644
index 0000000000000000000000000000000000000000..f94d6d570b6f7cd4bd463f2cec3ff3a52de1edbf
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode6_frame230_path.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4cb97b7475c53587ebd8702ced3537ff32c92f5786c8cac0457ae5d0fa9635b
+size 179261
diff --git a/artifacts/results/manual_metric_checks/episode6_frame230_visibility.png b/artifacts/results/manual_metric_checks/episode6_frame230_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..15366c59feb9fa87b4a015a8845634561bf0416d
--- /dev/null
+++ b/artifacts/results/manual_metric_checks/episode6_frame230_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00550574b714690c83785c9ed4bfa1eebfb3661f6f539ef18c3eea8fde360b66
+size 137980
diff --git a/artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json b/artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json
index 5c3f9df8c21f1e287fd3747cd8e5467431c0e01b..147f959eb1d786c5369259dc7a1319d7d41a0663 100644
--- a/artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json
+++ b/artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json
@@ -36,15 +36,15 @@
   "baseline_auprc_time_yext": 1.0,
   "baseline_auroc_whole_vis_yext": 0.030927835051546393,
   "baseline_auprc_whole_vis_yext": 0.16672328515787038,
-  "pre_ready_open_more_increases_pext": 1.0,
+  "pre_ready_open_more_increases_pext": 2.0,
   "pre_ready_open_more_trials": 2.0,
-  "pre_ready_hold_open_increases_pext": 1.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
   "pre_ready_hold_open_trials": 2.0,
   "pre_ready_extract_success": 0.0,
   "pre_ready_extract_trials": 2.0,
   "pre_ready_wait_extract_success": 0.0,
   "pre_ready_wait_trials": 2.0,
-  "post_ready_extract_success": 0.0,
+  "post_ready_extract_success": 2.0,
   "post_ready_extract_trials": 2.0,
   "post_ready_open_more_low_gain": 2.0,
   "post_ready_open_more_trials": 2.0,
diff --git a/artifacts/results/oven_episode0_iter6_independent_full/summary.json b/artifacts/results/oven_episode0_iter6_independent_full/summary.json
index 07fca57d4b6434dddc98188e8398ccd26a5a26fb..3c3f440a52f21f021156c777f630850744daaeeb 100644
--- a/artifacts/results/oven_episode0_iter6_independent_full/summary.json
+++ b/artifacts/results/oven_episode0_iter6_independent_full/summary.json
@@ -35,15 +35,15 @@
     "baseline_auprc_time_yext": 1.0,
     "baseline_auroc_whole_vis_yext": 0.030927835051546393,
     "baseline_auprc_whole_vis_yext": 0.16672328515787038,
-    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_increases_pext": 2.0,
     "pre_ready_open_more_trials": 2.0,
-    "pre_ready_hold_open_increases_pext": 1.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
     "pre_ready_hold_open_trials": 2.0,
     "pre_ready_extract_success": 0.0,
     "pre_ready_extract_trials": 2.0,
     "pre_ready_wait_extract_success": 0.0,
     "pre_ready_wait_trials": 2.0,
-    "post_ready_extract_success": 0.0,
+    "post_ready_extract_success": 2.0,
     "post_ready_extract_trials": 2.0,
     "post_ready_open_more_low_gain": 2.0,
     "post_ready_open_more_trials": 2.0,
@@ -85,15 +85,15 @@
     "baseline_auprc_time_yext": 1.0,
     "baseline_auroc_whole_vis_yext": 0.030927835051546393,
     "baseline_auprc_whole_vis_yext": 0.16672328515787038,
-    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_increases_pext": 2.0,
     "pre_ready_open_more_trials": 2.0,
-    "pre_ready_hold_open_increases_pext": 1.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
     "pre_ready_hold_open_trials": 2.0,
     "pre_ready_extract_success": 0.0,
     "pre_ready_extract_trials": 2.0,
     "pre_ready_wait_extract_success": 0.0,
     "pre_ready_wait_trials": 2.0,
-    "post_ready_extract_success": 0.0,
+    "post_ready_extract_success": 2.0,
     "post_ready_extract_trials": 2.0,
     "post_ready_open_more_low_gain": 2.0,
     "post_ready_open_more_trials": 2.0,
diff --git a/code/rr_label_study/oven_study.py b/code/rr_label_study/oven_study.py
index 4583ef75190f7dfa702ae1f90798e49724921fb1..3d7aa23e96eaf6856d8ebe9298cb7bb5eedc0183 100644
--- a/code/rr_label_study/oven_study.py
+++ b/code/rr_label_study/oven_study.py
@@ -59,6 +59,8 @@ DEFAULT_PLAN_TRIALS = 48
 DEFAULT_PLAN_MAX_CONFIGS = 4
 DEFAULT_PLAN_MAX_TIME_MS = 10
 DEFAULT_PLAN_TRIALS_PER_GOAL = 4
+DEFAULT_PLAN_ATTEMPTS = 2
+DEFAULT_PLAN_MIN_SUCCESSES = 2
 DEFAULT_READY_PERSISTENCE = 3
 DEFAULT_RETRIEVE_PERSISTENCE = 3
 DEFAULT_MASK_HANDLE_COUNT = 2
@@ -121,6 +123,27 @@ class MotionTemplates:
             "mask_handle_ids": [int(handle) for handle in self.mask_handle_ids],
         }
 
+    @classmethod
+    def from_json(cls, payload: Dict[str, object]) -> "MotionTemplates":
+        return cls(
+            pregrasp_rel_pose=np.asarray(payload["pregrasp_rel_pose"], dtype=np.float64),
+            grasp_rel_pose=np.asarray(payload["grasp_rel_pose"], dtype=np.float64),
+            retreat_rel_poses=[
+                np.asarray(pose, dtype=np.float64)
+                for pose in payload.get("retreat_rel_poses", [])
+            ],
+            grasp_local_center=np.asarray(payload["grasp_local_center"], dtype=np.float64),
+            grasp_region_extents=np.asarray(payload["grasp_region_extents"], dtype=np.float64),
+            hold_open_angle=float(payload["hold_open_angle"]),
+            open_more_delta=float(payload["open_more_delta"]),
+            reference_tray_height=float(payload["reference_tray_height"]),
+            approach_rel_poses=[
+                np.asarray(pose, dtype=np.float64)
+                for pose in payload.get("approach_rel_poses", [])
+            ],
+            mask_handle_ids=[int(handle) for handle in payload.get("mask_handle_ids", [])],
+        )
+
 
 @dataclass
 class EpisodeArtifacts:
@@ -856,6 +879,34 @@ def _plan_path(scene, arm_name: str, pose: np.ndarray, ignore_collisions: bool =
         return None
 
 
+def _stable_plan(
+    scene,
+    arm_name: str,
+    pose: np.ndarray,
+    ignore_collisions: bool = False,
+) -> Tuple[Optional[object], float, float]:
+    attempts = max(1, DEFAULT_PLAN_ATTEMPTS)
+    successful_paths: List[Tuple[float, object]] = []
+    for _ in range(attempts):
+        path = _plan_path(scene, arm_name, pose, ignore_collisions=ignore_collisions)
+        length = _path_length(path)
+        if path is None or not np.isfinite(length):
+            continue
+        successful_paths.append((float(length), path))
+    if not successful_paths:
+        return None, math.inf, 0.0
+    successful_paths.sort(key=lambda item: item[0])
+    stable_length = float(np.median([length for length, _ in successful_paths]))
+    reliability = float(len(successful_paths) / attempts)
+    return successful_paths[0][1], stable_length, reliability
+
+
+def _plan_is_reliable(reliability: float) -> bool:
+    attempts = max(1, DEFAULT_PLAN_ATTEMPTS)
+    required = min(attempts, max(1, DEFAULT_PLAN_MIN_SUCCESSES))
+    return reliability >= (required / attempts)
+
+
 def _path_length(path) -> float:
     if path is None:
         return math.inf
@@ -1011,12 +1062,16 @@ def _extract_score_and_success(task, templates: MotionTemplates) -> Tuple[float,
         for milestone_index, (pose, ignore_collisions) in enumerate(
             zip(milestone_poses, milestone_collision)
         ):
-            path = _plan_path(task._scene, "left", pose, ignore_collisions=ignore_collisions)
-            if path is None:
+            path, length, reliability = _stable_plan(
+                task._scene, "left", pose, ignore_collisions=ignore_collisions
+            )
+            if path is None or not np.isfinite(length):
+                return progress, False
+            planner_score = reliability * math.exp(-length / DEFAULT_PATH_SCALE)
+            progress += milestone_weight * planner_score
+            if not _plan_is_reliable(reliability):
                 return progress, False
-            length = _path_length(path)
             total_length += length
-            progress += milestone_weight * math.exp(-length / DEFAULT_PATH_SCALE)
             path.set_to_end(disable_dynamics=True)
             task._pyrep.step()
             current_height = float(tray.get_position()[2])
@@ -1347,21 +1402,60 @@ def _episode_metrics_from_frames(
     }
 
 
+def _isolated_intervention_outcomes(
+    demo: Demo,
+    templates: MotionTemplates,
+    frame_index: int,
+    checkpoint_stride: int,
+) -> Dict[str, Tuple[float, bool]]:
+    env = _launch_replay_env()
+    try:
+        task = env.get_task(BimanualTakeTrayOutOfOven)
+        cache = ReplayCache(task, demo, checkpoint_stride=checkpoint_stride)
+        cache.reset()
+        cache.step_to(frame_index)
+        snapshot = cache.snapshot()
+
+        base = _extract_score_and_success(task, templates)
+
+        _restore_snapshot(task, snapshot)
+        _open_more_branch(task, templates)
+        open_more = _extract_score_and_success(task, templates)
+
+        _restore_snapshot(task, snapshot)
+        _hold_open_branch(task, templates)
+        hold_open = _extract_score_and_success(task, templates)
+
+        _restore_snapshot(task, snapshot)
+        _wait_branch(task)
+        wait = _extract_score_and_success(task, templates)
+
+        return {
+            "base": base,
+            "open_more": open_more,
+            "hold_open": hold_open,
+            "wait": wait,
+        }
+    finally:
+        env.shutdown()
+
+
 def _interventional_validity(
-    task,
-    cache: ReplayCache,
-    episode_dir: Path,
     demo: Demo,
     templates: MotionTemplates,
     frame_df: pd.DataFrame,
+    checkpoint_stride: int,
 ) -> Dict[str, float]:
     ready_indices = np.flatnonzero(frame_df["y_ready"].to_numpy(dtype=bool))
     ready_onset = int(ready_indices[0]) if len(ready_indices) else len(frame_df) // 2
-    initial_snapshot = cache.snapshot()
-    sample_indices = sorted(
+    pre_ready_indices = sorted(
         {
+            max(0, ready_onset - 20),
             max(0, ready_onset - 10),
-            max(0, ready_onset - 5),
+        }
+    )
+    post_ready_indices = sorted(
+        {
             ready_onset,
             min(len(frame_df) - 1, ready_onset + 20),
         }
@@ -1382,25 +1476,18 @@ def _interventional_validity(
         "post_ready_hold_open_low_gain": 0,
         "post_ready_hold_open_trials": 0,
     }
-    for frame_index in sample_indices:
-        cache.restore_to_index(initial_snapshot, 0)
-        cache.step_to(frame_index)
-        snapshot = cache.snapshot()
-        base_pext, base_extract_success = _extract_score_and_success(task, templates)
-        pre_ready = not bool(frame_df.iloc[frame_index]["y_ready"])
-
-        _restore_snapshot(task, snapshot)
-        _open_more_branch(task, templates)
-        open_pext, _ = _extract_score_and_success(task, templates)
-
-        _restore_snapshot(task, snapshot)
-        _hold_open_branch(task, templates)
-        hold_pext, _ = _extract_score_and_success(task, templates)
-
-        _restore_snapshot(task, snapshot)
-        _wait_branch(task)
-        _, wait_extract_success = _extract_score_and_success(task, templates)
-        _restore_snapshot(task, snapshot)
+    for frame_index in [*pre_ready_indices, *post_ready_indices]:
+        outcomes = _isolated_intervention_outcomes(
+            demo=demo,
+            templates=templates,
+            frame_index=frame_index,
+            checkpoint_stride=checkpoint_stride,
+        )
+        base_pext, base_extract_success = outcomes["base"]
+        pre_ready = frame_index in pre_ready_indices
+        open_pext, _ = outcomes["open_more"]
+        hold_pext, _ = outcomes["hold_open"]
+        _, wait_extract_success = outcomes["wait"]
 
         if pre_ready:
             stats["pre_ready_open_more_trials"] += 1
@@ -1439,10 +1526,11 @@ def _analyze_episode(
     max_frames: Optional[int] = None,
     independent_replay: bool = False,
 ) -> EpisodeArtifacts:
+    demo = _load_demo(episode_dir)
+    descriptions = _load_descriptions(episode_dir)
+
     env = _launch_replay_env()
     try:
-        demo = _load_demo(episode_dir)
-        descriptions = _load_descriptions(episode_dir)
         task = env.get_task(BimanualTakeTrayOutOfOven)
         cache = ReplayCache(task, demo, checkpoint_stride=checkpoint_stride)
         cache.reset()
@@ -1493,27 +1581,30 @@ def _analyze_episode(
 
         keyframes = [index for index in _keypoint_discovery(demo) if index < num_frames]
         key_df = _keyframe_subset(frame_df, keyframes)
-
-        interventions = _interventional_validity(
-            task, cache, episode_dir, demo, templates, frame_df
-        )
-        metrics = _episode_metrics_from_frames(
-            frame_df=frame_df,
-            key_df=key_df,
-            episode_name=episode_dir.name,
-            description=descriptions[0],
-            interventions=interventions,
-        )
-        return EpisodeArtifacts(
-            episode_name=episode_dir.name,
-            dense=frame_df,
-            keyframes=key_df,
-            metrics=metrics,
-            template_frames=template_frames,
-        )
     finally:
         env.shutdown()
 
+    interventions = _interventional_validity(
+        demo=demo,
+        templates=templates,
+        frame_df=frame_df,
+        checkpoint_stride=checkpoint_stride,
+    )
+    metrics = _episode_metrics_from_frames(
+        frame_df=frame_df,
+        key_df=key_df,
+        episode_name=episode_dir.name,
+        description=descriptions[0],
+        interventions=interventions,
+    )
+    return EpisodeArtifacts(
+        episode_name=episode_dir.name,
+        dense=frame_df,
+        keyframes=key_df,
+        metrics=metrics,
+        template_frames=template_frames,
+    )
+
 
 def _aggregate_summary(episode_metrics: List[Dict[str, object]]) -> Dict[str, object]:
     frame = pd.DataFrame(episode_metrics)
diff --git a/code/scripts/refresh_saved_oven_study.py b/code/scripts/refresh_saved_oven_study.py
index e2ad09f65c5ede7fd524a2fef46f22e456cbacdb..ebeece952959e88a89dd7657104f30300a05ad67 100644
--- a/code/scripts/refresh_saved_oven_study.py
+++ b/code/scripts/refresh_saved_oven_study.py
@@ -2,6 +2,7 @@ import argparse
 import json
 from pathlib import Path
 import sys
+from typing import Optional
 
 import pandas as pd
 
@@ -11,9 +12,12 @@ if str(PROJECT_ROOT) not in sys.path:
     sys.path.insert(0, str(PROJECT_ROOT))
 
 from rr_label_study.oven_study import (  # noqa: E402
+    MotionTemplates,
     _aggregate_summary,
     _annotate_phase_columns,
     _episode_metrics_from_frames,
+    _interventional_validity,
+    _load_demo,
 )
 
 
@@ -35,7 +39,18 @@ INTERVENTION_KEYS = [
 ]
 
 
-def _refresh_episode(result_dir: Path, episode_name: str) -> dict:
+def _load_templates(result_dir: Path) -> MotionTemplates:
+    with result_dir.joinpath("templates.json").open("r", encoding="utf-8") as handle:
+        payload = json.load(handle)
+    return MotionTemplates(**payload["templates"])
+
+
+def _refresh_episode(
+    result_dir: Path,
+    episode_name: str,
+    dataset_root: Optional[Path],
+    checkpoint_stride: int,
+) -> dict:
     dense_path = result_dir / f"{episode_name}.dense.csv"
     keyframes_path = result_dir / f"{episode_name}.keyframes.csv"
     metrics_path = result_dir / f"{episode_name}.metrics.json"
@@ -51,9 +66,20 @@ def _refresh_episode(result_dir: Path, episode_name: str) -> dict:
 
     with metrics_path.open("r", encoding="utf-8") as handle:
         old_metrics = json.load(handle)
-    interventions = {
-        key: float(old_metrics[key]) for key in INTERVENTION_KEYS if key in old_metrics
-    }
+    if dataset_root is None:
+        interventions = {
+            key: float(old_metrics[key]) for key in INTERVENTION_KEYS if key in old_metrics
+        }
+    else:
+        episode_dir = dataset_root / "all_variations" / "episodes" / episode_name
+        demo = _load_demo(episode_dir)
+        templates = _load_templates(result_dir)
+        interventions = _interventional_validity(
+            demo=demo,
+            templates=templates,
+            frame_df=dense_df,
+            checkpoint_stride=checkpoint_stride,
+        )
 
     metrics = _episode_metrics_from_frames(
         frame_df=dense_df,
@@ -73,10 +99,13 @@ def _refresh_episode(result_dir: Path, episode_name: str) -> dict:
 def main(argv=None) -> int:
     parser = argparse.ArgumentParser()
     parser.add_argument("--result-dir", required=True)
+    parser.add_argument("--dataset-root")
+    parser.add_argument("--checkpoint-stride", type=int, default=16)
     parser.add_argument("--episodes", nargs="*")
     args = parser.parse_args(argv)
 
     result_dir = Path(args.result_dir)
+    dataset_root = Path(args.dataset_root) if args.dataset_root else None
     episode_metrics = []
     if args.episodes:
         episode_names = args.episodes
@@ -87,7 +116,14 @@ def main(argv=None) -> int:
         )
 
     for episode_name in episode_names:
-        episode_metrics.append(_refresh_episode(result_dir, episode_name))
+        episode_metrics.append(
+            _refresh_episode(
+                result_dir=result_dir,
+                episode_name=episode_name,
+                dataset_root=dataset_root,
+                checkpoint_stride=args.checkpoint_stride,
+            )
+        )
 
     summary = _aggregate_summary(episode_metrics)
     with result_dir.joinpath("summary.json").open("w", encoding="utf-8") as handle: