Add drift-free oven metric validation for episode 1

.gitattributes

@@ -851,3 +851,6 @@ artifacts/results/metric_iter19_ep0_independent/visualizations/frames/visibility
 artifacts/results/metric_iter19_ep0_independent/visualizations/frames/visibility_focus/frame_0250.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/metric_iter19_ep0_independent/visualizations/frames/visibility_focus/frame_0251.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/metric_iter19_ep0_independent/visualizations/frames/visibility_focus/frame_0252.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter19_ep1_independent/visualizations/episode1_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter19_ep1_independent/visualizations/episode1_path_quality_focus.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter19_ep1_independent/visualizations/episode1_visibility_focus.gif filter=lfs diff=lfs merge=lfs -text

artifacts/results/metric_iter19_ep1_independent/episode1.dense.csv

@@ -0,0 +1,313 @@
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artifacts/results/metric_iter19_ep1_independent/summary.json

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artifacts/results/metric_iter19_ep1_independent/templates.json

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artifacts/results/metric_iter19_ep1_independent/templates.pkl

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+version https://git-lfs.github.com/spec/v1
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artifacts/results/metric_iter19_ep1_independent/visualizations/README.md

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+# Visualizations
+
+- `episode1_visibility_focus.gif`: three-view visibility montage over dense frames 207-247.
+- `episode1_path_quality_focus.gif`: path-quality montage over dense frames 211-299.
+- `episode1_all_metrics.gif`: full episode overlay GIF over dense frames 0-311, 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.