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artifacts/results/_iter24_templates_ep0.pkl

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artifacts/results/_timing_iter29_ep0_workers8/templates.pkl

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artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged/episode0/episode0.keyframes.csv

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artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged/episode0/episode0.metrics.json

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artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged/episode0/summary.json

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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": 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
+}

artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged/episode0/templates.json

@@ -0,0 +1,244 @@
+{
+  "template_mode": "per_episode",
+  "template_episode": "episode0",
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+    "grasp_region_extents": [
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+    ],
+    "retriever_home_joints": [
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+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      192
+    ]
+  },
+  "template_source_json": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter24_ep0_door_contact_geom/templates.json"
+}

artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged/episode0/visualizations/README.md

@@ -0,0 +1,13 @@
+# Visualizations
+
+- `episode0_visibility_focus.gif`: three-view visibility montage over dense frames 131-171.
+- `episode0_path_quality_focus.gif`: debug-aware p_ext planner montage over dense frames 127-300.
+- `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, milestone pose overlays, and p_ext planner-search tables from the debug JSONL sidecar.
+- `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.