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diff --git a/artifacts/results/metric_iter19_ep0_independent/episode0.dense.csv b/artifacts/results/metric_iter19_ep0_independent/episode0.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5151ba8500b7fac3562f323ad7c5cb9ca0acdb6
--- /dev/null
+++ b/artifacts/results/metric_iter19_ep0_independent/episode0.dense.csv
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diff --git a/artifacts/results/metric_iter19_ep0_independent/episode0.keyframes.csv b/artifacts/results/metric_iter19_ep0_independent/episode0.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f87c20807642197cc8eaba31bf04c046eca1bbcc
--- /dev/null
+++ b/artifacts/results/metric_iter19_ep0_independent/episode0.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter19_ep0_independent/episode0.metrics.json b/artifacts/results/metric_iter19_ep0_independent/episode0.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e387f6c6001f2a64b876f3f40164a15fc87ff56b
--- /dev/null
+++ b/artifacts/results/metric_iter19_ep0_independent/episode0.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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+  "pext_cross_frame": 232,
+  "phase_cross_frame": 224,
+  "retrieve_cross_frame": 276,
+  "ready_cross_frame": 234,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": 52.0,
+  "dense_boundary_error_frames": 10.0,
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+  "key_boundary_error_to_retrieve_keyframes": 3.0,
+  "key_boundary_error_keyframes": 0.0,
+  "auroc_vret_ypre_three": 0.6273605621431708,
+  "auprc_vret_ypre_three": 0.4891409972679056,
+  "auroc_vret_ypre_full": 0.8782608695652174,
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+  "pre_ready_wait_extract_success": 0.0,
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+  "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/metric_iter19_ep0_independent/summary.json b/artifacts/results/metric_iter19_ep0_independent/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..26b1c28722c0f38267c25f90b47e5eec9eef0910
--- /dev/null
+++ b/artifacts/results/metric_iter19_ep0_independent/summary.json
@@ -0,0 +1,106 @@
+{
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+    "post_ready_open_more_low_gain": 2.0,
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+  },
+  "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/metric_iter19_ep0_independent/templates.json b/artifacts/results/metric_iter19_ep0_independent/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..014fbe578c23577fdee6bd65db643e126fba4f4e
--- /dev/null
+++ b/artifacts/results/metric_iter19_ep0_independent/templates.json
@@ -0,0 +1,243 @@
+{
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+  "template_episode": "episode0",
+  "template_frames": {
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+  }
+}
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diff --git a/artifacts/results/metric_iter19_ep0_independent/visualizations/README.md b/artifacts/results/metric_iter19_ep0_independent/visualizations/README.md
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+# Visualizations
+
+- `episode0_visibility_focus.gif`: three-view visibility montage over dense frames 212-252.
+- `episode0_path_quality_focus.gif`: path-quality montage over dense frames 216-304.
+- `episode0_all_metrics.gif`: full episode overlay GIF over dense frames 0-328, sampled every 2 frames.
+- `frames/visibility_focus/`: per-frame PNGs with scene overlays, x-ray projections, and tray-mask views.
+- `frames/path_quality_focus/`: per-frame PNGs with demo wrist trails plus planned pregrasp/grasp/retreat path overlays.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- Visibility: blue = sampled tray surface, magenta = sampled grasp region, green = depth-consistent visible grasp samples.
+- Path quality: cyan/purple = recent left/right demo wrist trails, yellow = pregrasp, orange = grasp, green = retreat / extraction path.
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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diff --git a/artifacts/results/metric_iter19_ep0_independent/xvfb_406.log b/artifacts/results/metric_iter19_ep0_independent/xvfb_406.log
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diff --git a/artifacts/results/metric_iter19_ep0_independent/xvfb_407.log b/artifacts/results/metric_iter19_ep0_independent/xvfb_407.log
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