Add Phoenix-MWA 20k evaluation logs and metric revision

Add Phoenix-MWA (w. Pretrain) evaluation logs

Policy ID: `phoenix-mwa`.
GitHub leaderboard PR: Pending; the GitHub leaderboard PR will be linked here once opened.

This package includes 26 tasks × 4 channels × 50 episodes, matching README/results JSON, sanitized original native logs under `per_task_eval/`, and the Task09 revision under `revisions/task09_axis_y/`. Source paths in the results JSON explicitly identify the selected score inputs. Additional revision copies are not counted as additional episodes.

Reported scores: SR 45.5961538%, LSCR 65.6080128%, efficiency 0.9025351 (25 tasks with success). Checkpoint mapping, episode seeds, execution budgets, historical Task27/42 differences and Task09 revision details are recorded in the evaluation metadata. Numerical Task09 replay inputs and a portable verification script are included.

Target branch: `main`. The accepted HF commit can be pinned in `evaluation.logs.revision` after review.

phoenix-mwa/README.md

@@ -0,0 +1,35 @@
+# Phoenix-MWA (w. Pretrain)
+
+**Anyverse & OpenPhoenix**
+
+Phoenix-MWA jointly predicts future visual states and robot actions from RGB observations, robot state, language and embodiment identity. It combines Wan appearance latents with Phoenix Encoder–CS-VAE geometric and semantic latents, using interacting video and action experts. This entry reports the pretrained model after task-group post-training on Bench2Dex demonstrations.
+
+[Project](https://openphoenix-team.github.io/Phoenix-pages/) · [Code](https://github.com/Anyverse-Dynamics/Phoenix-MWA) · [Models](https://huggingface.co/AnyverseDynamics) · [Contributions](https://openphoenix-team.github.io/Phoenix-pages/#contributions-heading)
+
+## Evaluation
+
+26 tasks, 12 arm–hand combinations, four channels, 50 episodes per task/channel (5,200 episodes). The evaluated policies use RGB, proprioception and language. Thirteen task-group checkpoints are evaluated at post-training step 20,000; the task-to-checkpoint mapping and individual training configurations are recorded in the linked evaluation metadata.
+
+| Metric | Result |
+| --- | ---: |
+| None SR | 54.2% |
+| Equi. SR | 38.5% |
+| Inv. SR | 44.1% |
+| Full SR | 45.6% |
+| Four-channel mean SR | 45.6% |
+| Four-channel mean LSCR | 65.6% |
+| Efficiency (25 tasks with success) | 0.9025 |
+
+The results JSON contains full-precision scores, protocol settings, source-log references and metric-revision metadata. [Evaluation logs and metadata](https://huggingface.co/datasets/Bench2Dex/Leaderboard/tree/main/phoenix-mwa).
+
+## Attribution
+
+Advisers: Qichao Zhang, Haoran Li, Dongbin Zhao.
+
+Project leads: Yupeng Zheng, Zhongpu Xia.
+
+Core contributors: Yupeng Zheng, Chaoyue Li, Linbo Wang, Xiang Li, Secant, Zebin Xing.
+
+The complete contribution roles and ordering are listed on the [project page](https://openphoenix-team.github.io/Phoenix-pages/#contributions-heading).
+
+Correspondence: zhengyupeng18@mails.ucas.ac.cn.

phoenix-mwa/metadata/protocol_comparison.json

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+}

phoenix-mwa/metadata/provenance.json

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+}

phoenix-mwa/metadata/training.json

@@ -0,0 +1,593 @@
+{
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+      "checkpoint_sha256": "e055746439652678f0a59fefb677270cdc812c2fdda0c5c7961de89972a13850",
+      "checkpoint_step": 20000
+    },
+    "61": {
+      "task": "61_medicine_shoebox_pack",
+      "robot_key": "multi_panda_with_orca",
+      "checkpoint_group": "panda_orca",
+      "checkpoint_sha256": "f17dd6be661b42ccb1983b4be03775106693509d1af67b01542a484c8608acd7",
+      "checkpoint_step": 20000
+    },
+    "62": {
+      "task": "62_shoebox_accessory_pack",
+      "robot_key": "multi_xarm7_with_leap",
+      "checkpoint_group": "xarm_leap",
+      "checkpoint_sha256": "9795dc6229f2a1afa2407753c40a1b1d63b5f845c21e1f3f5ab1aa55783f36ce",
+      "checkpoint_step": 20000
+    },
+    "64": {
+      "task": "64_sports_ball_cup_sort",
+      "robot_key": "multi_panda_with_allegro",
+      "checkpoint_group": "panda_allegro",
+      "checkpoint_sha256": "d7850e6c68d45e4c55ae30538d8df6ec37fe9c245f2b46d809d83a93fe7909f5",
+      "checkpoint_step": 20000
+    },
+    "67": {
+      "task": "67_faucet_cup_water_fill",
+      "robot_key": "multi_rm_65_with_revo2",
+      "checkpoint_group": "rm65_revo2",
+      "checkpoint_sha256": "66cc0a6c5d9f4d356a7b7332d7fe3e7f839c434742307920fc4d8104c49d6b5f",
+      "checkpoint_step": 20000
+    },
+    "73": {
+      "task": "73_jigsaw_puzzle_assembly",
+      "robot_key": "multi_iiwa7_with_sharpa",
+      "checkpoint_group": "iiwa7_sharpa",
+      "checkpoint_sha256": "e744851b52f78fa0b193e0609bc0a9704f45ff7cfb680b63283f84fad463b0a0",
+      "checkpoint_step": 20000
+    },
+    "76": {
+      "task": "76_soup_serving",
+      "robot_key": "multi_ur5_shadow_hand_with_flange",
+      "checkpoint_group": "ur5_shadow",
+      "checkpoint_sha256": "9f8f6d46aa13e836f71b68a0a09b732a63c52178c412cf8551deff139e16f87a",
+      "checkpoint_step": 20000
+    },
+    "79": {
+      "task": "79_bimanual_piano_melody",
+      "robot_key": "multi_xarm7_with_ability",
+      "checkpoint_group": "xarm_ability",
+      "checkpoint_sha256": "80697ff7d79dec66d27cbfe3d4e95ce49a30de822866d9e826559a3f0d8a3e54",
+      "checkpoint_step": 20000
+    },
+    "80": {
+      "task": "80_gaming_desk_setup",
+      "robot_key": "multi_jaka_zu7_dexhand021_with_flange",
+      "checkpoint_group": "jaka_dexhand021",
+      "checkpoint_sha256": "881b450e3b8274dca3c252b4829cf2c4cdf3ea668a502758751d0252783e28f7",
+      "checkpoint_step": 20000
+    }
+  },
+  "inference": {
+    "physics_hz": 60,
+    "control_hz": 20,
+    "execute_steps_per_chunk": 8,
+    "denoising_steps": 10
+  },
+  "code": "https://github.com/Anyverse-Dynamics/Phoenix-MWA",
+  "project": "https://openphoenix-team.github.io/Phoenix-pages/"
+}

phoenix-mwa/per_task_eval/03_wine_glass_plate_balance/Equi/summary.json

@@ -0,0 +1,217 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 21,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3246,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
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+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
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+            "hard_violation_episodes": 0
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+            "hard_violation_episodes": 0
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+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
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+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/03_wine_glass_plate_balance/Full/summary.json

@@ -0,0 +1,209 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 200300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 25,
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+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
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+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3246,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
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+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
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+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
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+      "joint_velocity_rms": 0.8491704005405301
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8818873600320911,
+      "mean_kinematic_grasp_stability": 0.5765834255348982,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_194_wineglass_1": 0.7692587494907763,
+        "obj_194_wineglass_2": 0.8546544727105332,
+        "obj_194_wineglass_3": 0.6724198389643737
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.8944174310099245,
+        "mean_duration_score": 0.5448333330568406,
+        "mean_hold_score": 0.17277978935765856,
+        "mean_kinematic_stability_score": 0.11078125692847142,
+        "mean_legacy_gsi": 0.3873265572984229,
+        "mean_lift_score": 0.20324583674962432,
+        "mean_motion_stability_score": 0.151632641299255
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2729.22,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/03_wine_glass_plate_balance/Inv/summary.json

@@ -0,0 +1,204 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 15,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3246,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.3,
+      "success_rate_ci": {
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+        "ci_low": 0.18,
+        "ci_high": 0.42
+      }
+    },
+    "progress": {
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+    "efficiency": {
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+    },
+    "safety": {
+      "safe_success_rate": 0.28,
+      "hard_violation_rate": 0.66,
+      "drop_rate": 0.66,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00038381664530544264
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.34,
+      "at_end_success_rate": 0.3,
+      "task_family_success_rate": {
+        "table_setting": 0.3
+      }
+    },
+    "progress": {
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+      "current_chain_depth_progress_score": 0.6533333333333333,
+      "latched_chain_depth_progress_score": 0.8066666666666666,
+      "avg_current_chain_depth": 1.96,
+      "avg_latched_chain_depth": 2.42
+    },
+    "efficiency": {
+      "task_efficiency": 1.0097404468209454,
+      "expert_time_s": 36.06666666666666,
+      "expert_time_step": 2164,
+      "avg_steps_to_success": 2152.866666666667,
+      "avg_policy_steps_to_success": 718,
+      "avg_policy_queries_to_success": 90.26666666666667
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00038381664530544264,
+      "violation_counts": {
+        "drop_to_table_obj_194_wineglass_1": 11,
+        "drop_to_table_obj_194_wineglass_2": 22,
+        "drop_to_table_obj_194_wineglass_3": 23
+      },
+      "robot_constraint_violation_rate": 0.08,
+      "finger_joint_limit_saturation_rate": 0.0,
+      "joint_limit_active_step_rate": 0.0001850544539865527,
+      "finger_joint_limit_saturation_step_rate": 0.0,
+      "max_joint_limit_excess_rad": 0.13808205723762512,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "middle_q1": 3,
+          "multi_ring_q1": 5,
+          "ring_q1": 19
+        },
+        "joint_limit_hard_counts": {
+          "middle_q1": 2,
+          "multi_ring_q1": 1,
+          "ring_q1": 7
+        },
+        "joint_limit_hard_episode_events": 10,
+        "finger_joint_limit_saturation_counts": {},
+        "joint_limit_max_excess_by_joint": {
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+          "index_q2": 8.434115628119798e-09,
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+          "multi_middle_q1": 0.0003991810663137585,
+          "multi_middle_q2": 9.758117084857076e-05,
+          "multi_pinky_q1": 0.0008054662030190229,
+          "multi_pinky_q2": 9.548875823384151e-05,
+          "multi_ring_q1": 0.0396411269903183,
+          "multi_ring_q2": 0.0009653460583649576,
+          "pinky_q1": 0.004675349220633507,
+          "pinky_q2": 0.003314438508823514,
+          "ring_q1": 0.13808205723762512,
+          "ring_q2": 0.003866726765409112,
+          "thumb_q2": 0.0017371204448863864
+        },
+        "coverage": {
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+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
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+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 10.68938191549787,
+      "joint_effort_rms": 101.33695200099281,
+      "joint_jerk_rms": 1065.863193849864,
+      "joint_velocity_rms": 0.8525622284431649
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9249297025667728,
+      "mean_kinematic_grasp_stability": 0.6453798010012519,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_194_wineglass_1": 0.7853945667408597,
+        "obj_194_wineglass_2": 0.8894375494208361,
+        "obj_194_wineglass_3": 0.7481099513122984
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9095303625283859,
+        "mean_duration_score": 0.5767417583763904,
+        "mean_hold_score": 0.2270326624778228,
+        "mean_kinematic_stability_score": 0.16216674699883019,
+        "mean_legacy_gsi": 0.4285912444833816,
+        "mean_lift_score": 0.2554750840104345,
+        "mean_motion_stability_score": 0.20512450666096305
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2918.06,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/03_wine_glass_plate_balance/None/summary.json

@@ -0,0 +1,213 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 19,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3246,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.38,
+      "success_rate_ci": {
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+        "ci_low": 0.24,
+        "ci_high": 0.52
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.8133333333333334
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+    "efficiency": {
+      "avg_time_to_success_s": 38.769298245613115
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+    "safety": {
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+      "hard_violation_rate": 0.64,
+      "drop_rate": 0.64,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0003314390669990264
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.4,
+      "at_end_success_rate": 0.38,
+      "task_family_success_rate": {
+        "table_setting": 0.38
+      }
+    },
+    "progress": {
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+      "current_chain_depth_progress_score": 0.72,
+      "latched_chain_depth_progress_score": 0.8133333333333334,
+      "avg_current_chain_depth": 2.16,
+      "avg_latched_chain_depth": 2.44
+    },
+    "efficiency": {
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+      "expert_time_s": 36.06666666666666,
+      "expert_time_step": 2164,
+      "avg_steps_to_success": 2326.157894736842,
+      "avg_policy_steps_to_success": 775.7368421052631,
+      "avg_policy_queries_to_success": 97.3157894736842
+    },
+    "safety": {
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+      "violation_counts": {
+        "drop_to_table_obj_194_wineglass_1": 13,
+        "drop_to_table_obj_194_wineglass_2": 18,
+        "drop_to_table_obj_194_wineglass_3": 17
+      },
+      "robot_constraint_violation_rate": 0.16,
+      "finger_joint_limit_saturation_rate": 0.0,
+      "joint_limit_active_step_rate": 0.00037977393093638443,
+      "finger_joint_limit_saturation_step_rate": 0.0,
+      "max_joint_limit_excess_rad": 0.08707048743963242,
+      "robot_constraint_diagnostics": {
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+          "multi_pinky_q1": 3,
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+          "multi_ring_q2": 9,
+          "ring_q1": 8
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+          "multi_ring_q2": 6,
+          "pinky_q1": 3,
+          "ring_q1": 3,
+          "ring_q2": 1
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+        "joint_limit_hard_episode_events": 27,
+        "finger_joint_limit_saturation_counts": {},
+        "joint_limit_max_excess_by_joint": {
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+            "unknown": 0
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+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 10.732987588709229,
+      "joint_effort_rms": 98.92840893234124,
+      "joint_jerk_rms": 1067.6179681637564,
+      "joint_velocity_rms": 0.8143940210573185
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9230949617126871,
+      "mean_kinematic_grasp_stability": 0.6174594375751447,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_194_wineglass_1": 0.7967938382252774,
+        "obj_194_wineglass_2": 0.8367313651030244,
+        "obj_194_wineglass_3": 0.7080438811503953
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9170626497043023,
+        "mean_duration_score": 0.5375274687347742,
+        "mean_hold_score": 0.20371174388858326,
+        "mean_kinematic_stability_score": 0.1429234599895499,
+        "mean_legacy_gsi": 0.4075330826244895,
+        "mean_lift_score": 0.23385395970344955,
+        "mean_motion_stability_score": 0.18024397745540896
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2896.46,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/06_fruit_bowl_loading/Equi/summary.json

@@ -0,0 +1,274 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 26,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1920,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.52,
+      "success_rate_ci": {
+        "mean": 0.52,
+        "ci_low": 0.38,
+        "ci_high": 0.66
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.75
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 23.841025641025567
+    },
+    "safety": {
+      "safe_success_rate": 0.26,
+      "hard_violation_rate": 0.7,
+      "drop_rate": 0.42,
+      "high_speed_violation_rate": 0.62,
+      "safety_violation_step_rate": 0.0011408396579882794
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.52,
+      "at_end_success_rate": 0.52,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.52
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.705,
+      "current_chain_depth_progress_score": 0.7533333333333333,
+      "latched_chain_depth_progress_score": 0.7933333333333333,
+      "avg_current_chain_depth": 2.26,
+      "avg_latched_chain_depth": 2.38
+    },
+    "efficiency": {
+      "task_efficiency": 0.8998052072999982,
+      "expert_time_s": 21.333333333333332,
+      "expert_time_step": 1280,
+      "avg_steps_to_success": 1430.4615384615386,
+      "avg_policy_steps_to_success": 477.1923076923077,
+      "avg_policy_queries_to_success": 60.11538461538461
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0009246805648957633,
+      "violation_counts": {
+        "drop_to_table_obj_011_banana_2": 3,
+        "drop_to_table_obj_013_apple_3": 14,
+        "drop_to_table_obj_013_apple_4": 18,
+        "high_speed_obj_011_banana_2": 2,
+        "high_speed_obj_013_apple_3": 16,
+        "high_speed_obj_013_apple_4": 24
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.96,
+      "joint_limit_active_step_rate": 0.15679940436161013,
+      "finger_joint_limit_saturation_step_rate": 0.10373234700739745,
+      "max_joint_limit_excess_rad": 1.7298932075500488,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 1445,
+          "left_index_2_joint": 34,
+          "left_little_1_joint": 1298,
+          "left_little_2_joint": 226,
+          "left_middle_1_joint": 1490,
+          "left_middle_2_joint": 185,
+          "left_ring_1_joint": 1565,
+          "left_ring_2_joint": 278,
+          "left_thumb_2_joint": 61,
+          "left_thumb_3_joint": 37,
+          "left_thumb_4_joint": 151,
+          "right_index_1_joint": 3163,
+          "right_index_2_joint": 248,
+          "right_little_1_joint": 2979,
+          "right_little_2_joint": 928,
+          "right_middle_1_joint": 3865,
+          "right_middle_2_joint": 778,
+          "right_ring_1_joint": 3387,
+          "right_ring_2_joint": 935,
+          "right_thumb_1_joint": 214,
+          "right_thumb_2_joint": 6432,
+          "right_thumb_3_joint": 390,
+          "right_thumb_4_joint": 1370
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 63,
+          "left_index_2_joint": 55,
+          "left_little_1_joint": 44,
+          "left_little_2_joint": 87,
+          "left_middle_1_joint": 53,
+          "left_middle_2_joint": 132,
+          "left_ring_1_joint": 47,
+          "left_ring_2_joint": 133,
+          "left_thumb_2_joint": 6,
+          "left_thumb_3_joint": 7,
+          "left_thumb_4_joint": 11,
+          "right_index_1_joint": 119,
+          "right_index_2_joint": 79,
+          "right_little_1_joint": 61,
+          "right_little_2_joint": 116,
+          "right_middle_1_joint": 116,
+          "right_middle_2_joint": 201,
+          "right_ring_1_joint": 93,
+          "right_ring_2_joint": 181,
+          "right_thumb_1_joint": 25,
+          "right_thumb_2_joint": 119,
+          "right_thumb_3_joint": 25,
+          "right_thumb_4_joint": 82
+        },
+        "joint_limit_hard_episode_events": 265,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 572,
+          "left_little_1_joint": 789,
+          "left_little_2_joint": 14,
+          "left_middle_1_joint": 759,
+          "left_ring_1_joint": 892,
+          "left_ring_2_joint": 8,
+          "left_thumb_3_joint": 1,
+          "left_thumb_4_joint": 67,
+          "right_index_1_joint": 1647,
+          "right_index_2_joint": 2,
+          "right_little_1_joint": 2666,
+          "right_little_2_joint": 349,
+          "right_middle_1_joint": 2598,
+          "right_middle_2_joint": 207,
+          "right_ring_1_joint": 2418,
+          "right_ring_2_joint": 285,
+          "right_thumb_1_joint": 19,
+          "right_thumb_2_joint": 3622,
+          "right_thumb_3_joint": 222,
+          "right_thumb_4_joint": 794
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_1_joint": 0.8752114176750183,
+          "left_index_2_joint": 0.03676307201385498,
+          "left_little_1_joint": 0.751541256904602,
+          "left_little_2_joint": 0.21070699393749237,
+          "left_middle_1_joint": 0.9057557582855225,
+          "left_middle_2_joint": 0.07114344090223312,
+          "left_ring_1_joint": 1.2723243236541748,
+          "left_ring_2_joint": 0.1675352305173874,
+          "left_thumb_2_joint": 0.16841433942317963,
+          "left_thumb_3_joint": 0.2649204134941101,
+          "left_thumb_4_joint": 0.3890720307826996,
+          "right_index_1_joint": 1.3841030597686768,
+          "right_index_2_joint": 0.22251828014850616,
+          "right_little_1_joint": 1.7298932075500488,
+          "right_little_2_joint": 1.6543946266174316,
+          "right_middle_1_joint": 1.726485013961792,
+          "right_middle_2_joint": 0.48631811141967773,
+          "right_ring_1_joint": 1.6592764854431152,
+          "right_ring_2_joint": 0.5074188709259033,
+          "right_thumb_1_joint": 0.39208003878593445,
+          "right_thumb_2_joint": 0.5023699998855591,
+          "right_thumb_3_joint": 0.7703933119773865,
+          "right_thumb_4_joint": 1.5994541645050049
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 56.31817602892391,
+      "joint_effort_rms": 40.731647265568824,
+      "joint_jerk_rms": 5748.682742798095,
+      "joint_velocity_rms": 1.1011323392446744
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.879213665215155,
+      "mean_kinematic_grasp_stability": 0.3790486090713221,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_011_banana_2": 0.5959890698007086,
+        "obj_013_apple_3": 0.8057258421990461,
+        "obj_013_apple_4": 0.22526109168319083
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9271449781162501,
+        "mean_duration_score": 0.14746360556750746,
+        "mean_hold_score": 0.13602703941110414,
+        "mean_kinematic_stability_score": 0.0841006474941012,
+        "mean_legacy_gsi": 0.29992392371725046,
+        "mean_lift_score": 0.21383882953069072,
+        "mean_motion_stability_score": 0.1274400467283903
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1665.44,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/06_fruit_bowl_loading/Full/summary.json

@@ -0,0 +1,279 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 200600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 24,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1920,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.48,
+      "success_rate_ci": {
+        "mean": 0.48,
+        "ci_low": 0.34,
+        "ci_high": 0.62
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.74
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 22.654861111111106
+    },
+    "safety": {
+      "safe_success_rate": 0.34,
+      "hard_violation_rate": 0.64,
+      "drop_rate": 0.48,
+      "high_speed_violation_rate": 0.52,
+      "safety_violation_step_rate": 0.0010176514059338768
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.52,
+      "at_end_success_rate": 0.48,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.48
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.69,
+      "current_chain_depth_progress_score": 0.7466666666666667,
+      "latched_chain_depth_progress_score": 0.7933333333333333,
+      "avg_current_chain_depth": 2.24,
+      "avg_latched_chain_depth": 2.38
+    },
+    "efficiency": {
+      "task_efficiency": 0.9450724497506614,
+      "expert_time_s": 21.333333333333332,
+      "expert_time_step": 1280,
+      "avg_steps_to_success": 1359.2916666666667,
+      "avg_policy_steps_to_success": 453.4583333333333,
+      "avg_policy_queries_to_success": 57.166666666666664
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0008116981452091637,
+      "violation_counts": {
+        "drop_to_table_obj_011_banana_2": 7,
+        "drop_to_table_obj_013_apple_3": 14,
+        "drop_to_table_obj_013_apple_4": 16,
+        "high_speed_obj_011_banana_2": 1,
+        "high_speed_obj_013_apple_3": 17,
+        "high_speed_obj_013_apple_4": 12
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.16179445864579672,
+      "finger_joint_limit_saturation_step_rate": 0.09832450964951601,
+      "max_joint_limit_excess_rad": 1.5319896936416626,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 2211,
+          "left_index_2_joint": 46,
+          "left_little_1_joint": 2957,
+          "left_little_2_joint": 902,
+          "left_middle_1_joint": 3020,
+          "left_middle_2_joint": 370,
+          "left_ring_1_joint": 3159,
+          "left_ring_2_joint": 727,
+          "left_thumb_1_joint": 701,
+          "left_thumb_2_joint": 82,
+          "left_thumb_3_joint": 624,
+          "left_thumb_4_joint": 239,
+          "right_index_1_joint": 1668,
+          "right_index_2_joint": 158,
+          "right_little_1_joint": 1974,
+          "right_little_2_joint": 218,
+          "right_middle_1_joint": 2109,
+          "right_middle_2_joint": 397,
+          "right_ring_1_joint": 1754,
+          "right_ring_2_joint": 642,
+          "right_thumb_1_joint": 187,
+          "right_thumb_2_joint": 7669,
+          "right_thumb_3_joint": 70,
+          "right_thumb_4_joint": 663
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 75,
+          "left_index_2_joint": 87,
+          "left_little_1_joint": 57,
+          "left_little_2_joint": 248,
+          "left_middle_1_joint": 57,
+          "left_middle_2_joint": 353,
+          "left_ring_1_joint": 52,
+          "left_ring_2_joint": 296,
+          "left_thumb_1_joint": 1,
+          "left_thumb_2_joint": 4,
+          "left_thumb_3_joint": 2,
+          "left_thumb_4_joint": 16,
+          "right_index_1_joint": 81,
+          "right_index_2_joint": 78,
+          "right_little_1_joint": 39,
+          "right_little_2_joint": 71,
+          "right_middle_1_joint": 65,
+          "right_middle_2_joint": 158,
+          "right_ring_1_joint": 56,
+          "right_ring_2_joint": 95,
+          "right_thumb_1_joint": 17,
+          "right_thumb_2_joint": 120,
+          "right_thumb_3_joint": 12,
+          "right_thumb_4_joint": 56
+        },
+        "joint_limit_hard_episode_events": 227,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 1266,
+          "left_little_1_joint": 2214,
+          "left_little_2_joint": 345,
+          "left_middle_1_joint": 2061,
+          "left_ring_1_joint": 2283,
+          "left_ring_2_joint": 20,
+          "left_thumb_1_joint": 654,
+          "left_thumb_2_joint": 9,
+          "left_thumb_3_joint": 540,
+          "left_thumb_4_joint": 161,
+          "right_index_1_joint": 839,
+          "right_index_2_joint": 5,
+          "right_little_1_joint": 1706,
+          "right_little_2_joint": 15,
+          "right_middle_1_joint": 1416,
+          "right_middle_2_joint": 39,
+          "right_ring_1_joint": 1297,
+          "right_ring_2_joint": 300,
+          "right_thumb_1_joint": 24,
+          "right_thumb_2_joint": 3744,
+          "right_thumb_3_joint": 5,
+          "right_thumb_4_joint": 413
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_1_joint": 0.8203338384628296,
+          "left_index_2_joint": 0.04655429720878601,
+          "left_little_1_joint": 1.1897494792938232,
+          "left_little_2_joint": 0.2966943383216858,
+          "left_middle_1_joint": 0.9982564449310303,
+          "left_middle_2_joint": 0.0658297911286354,
+          "left_ring_1_joint": 1.089830994606018,
+          "left_ring_2_joint": 0.154735267162323,
+          "left_thumb_1_joint": 0.41374003887176514,
+          "left_thumb_2_joint": 0.1942363828420639,
+          "left_thumb_3_joint": 0.7180671095848083,
+          "left_thumb_4_joint": 0.9072517156600952,
+          "right_index_1_joint": 0.9876055717468262,
+          "right_index_2_joint": 0.18193109333515167,
+          "right_little_1_joint": 1.5319896936416626,
+          "right_little_2_joint": 0.36329615116119385,
+          "right_middle_1_joint": 1.3770991563796997,
+          "right_middle_2_joint": 0.3287695050239563,
+          "right_ring_1_joint": 1.12842857837677,
+          "right_ring_2_joint": 0.7712134718894958,
+          "right_thumb_1_joint": 0.5219295620918274,
+          "right_thumb_2_joint": 0.5373188853263855,
+          "right_thumb_3_joint": 0.434775173664093,
+          "right_thumb_4_joint": 1.0378228425979614
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 57.2050984456453,
+      "joint_effort_rms": 40.20184772665213,
+      "joint_jerk_rms": 5854.560240911381,
+      "joint_velocity_rms": 1.112720446343472
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8572059380119315,
+      "mean_kinematic_grasp_stability": 0.38311189152523606,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_011_banana_2": 0.671647618254743,
+        "obj_013_apple_3": 0.7477404151893703,
+        "obj_013_apple_4": 0.22693822333722286
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9184465489795873,
+        "mean_duration_score": 0.15716635228042464,
+        "mean_hold_score": 0.1474223992951597,
+        "mean_kinematic_stability_score": 0.09768601965486201,
+        "mean_legacy_gsi": 0.3061351204132316,
+        "mean_lift_score": 0.2254888941768768,
+        "mean_motion_stability_score": 0.13703480682475022
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1650.86,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/06_fruit_bowl_loading/Inv/summary.json

@@ -0,0 +1,277 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 26,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1920,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.52,
+      "success_rate_ci": {
+        "mean": 0.52,
+        "ci_low": 0.38,
+        "ci_high": 0.66
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.815
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 22.34871794871796
+    },
+    "safety": {
+      "safe_success_rate": 0.46,
+      "hard_violation_rate": 0.52,
+      "drop_rate": 0.38,
+      "high_speed_violation_rate": 0.42,
+      "safety_violation_step_rate": 0.0008277327535085986
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.54,
+      "at_end_success_rate": 0.52,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.52
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.765,
+      "current_chain_depth_progress_score": 0.8466666666666667,
+      "latched_chain_depth_progress_score": 0.8533333333333333,
+      "avg_current_chain_depth": 2.54,
+      "avg_latched_chain_depth": 2.56
+    },
+    "efficiency": {
+      "task_efficiency": 0.9558606346720725,
+      "expert_time_s": 21.333333333333332,
+      "expert_time_step": 1280,
+      "avg_steps_to_success": 1340.923076923077,
+      "avg_policy_steps_to_success": 447.34615384615387,
+      "avg_policy_queries_to_success": 56.38461538461539
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0006671278908875272,
+      "violation_counts": {
+        "drop_to_table_obj_011_banana_2": 3,
+        "drop_to_table_obj_013_apple_3": 11,
+        "drop_to_table_obj_013_apple_4": 12,
+        "high_speed_obj_011_banana_2": 1,
+        "high_speed_obj_013_apple_3": 17,
+        "high_speed_obj_013_apple_4": 10
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.15059794425775844,
+      "finger_joint_limit_saturation_step_rate": 0.09292844435659221,
+      "max_joint_limit_excess_rad": 1.4334502220153809,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
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+          "left_index_2_joint": 79,
+          "left_little_1_joint": 2639,
+          "left_little_2_joint": 379,
+          "left_middle_1_joint": 2570,
+          "left_middle_2_joint": 248,
+          "left_ring_1_joint": 2740,
+          "left_ring_2_joint": 356,
+          "left_thumb_1_joint": 86,
+          "left_thumb_2_joint": 115,
+          "left_thumb_3_joint": 163,
+          "left_thumb_4_joint": 232,
+          "right_index_1_joint": 1285,
+          "right_index_2_joint": 196,
+          "right_little_1_joint": 1679,
+          "right_little_2_joint": 406,
+          "right_middle_1_joint": 1722,
+          "right_middle_2_joint": 371,
+          "right_ring_1_joint": 1597,
+          "right_ring_2_joint": 459,
+          "right_thumb_1_joint": 79,
+          "right_thumb_2_joint": 7223,
+          "right_thumb_3_joint": 96,
+          "right_thumb_4_joint": 883
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 76,
+          "left_index_2_joint": 110,
+          "left_little_1_joint": 61,
+          "left_little_2_joint": 190,
+          "left_middle_1_joint": 66,
+          "left_middle_2_joint": 225,
+          "left_ring_1_joint": 66,
+          "left_ring_2_joint": 255,
+          "left_thumb_1_joint": 1,
+          "left_thumb_2_joint": 4,
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+          "left_thumb_4_joint": 13,
+          "right_index_1_joint": 51,
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+          "right_little_1_joint": 36,
+          "right_little_2_joint": 43,
+          "right_middle_1_joint": 63,
+          "right_middle_2_joint": 114,
+          "right_ring_1_joint": 40,
+          "right_ring_2_joint": 94,
+          "right_thumb_1_joint": 8,
+          "right_thumb_2_joint": 112,
+          "right_thumb_3_joint": 12,
+          "right_thumb_4_joint": 59
+        },
+        "joint_limit_hard_episode_events": 230,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 596,
+          "left_little_1_joint": 1844,
+          "left_little_2_joint": 12,
+          "left_middle_1_joint": 1556,
+          "left_ring_1_joint": 1806,
+          "left_thumb_1_joint": 40,
+          "left_thumb_2_joint": 61,
+          "left_thumb_3_joint": 111,
+          "left_thumb_4_joint": 90,
+          "right_index_1_joint": 658,
+          "right_index_2_joint": 5,
+          "right_little_1_joint": 1385,
+          "right_little_2_joint": 115,
+          "right_middle_1_joint": 1128,
+          "right_middle_2_joint": 29,
+          "right_ring_1_joint": 1213,
+          "right_ring_2_joint": 28,
+          "right_thumb_2_joint": 3810,
+          "right_thumb_3_joint": 43,
+          "right_thumb_4_joint": 529
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_1_joint": 0.9077624082565308,
+          "left_index_2_joint": 0.06104794517159462,
+          "left_little_1_joint": 1.264432430267334,
+          "left_little_2_joint": 0.34197115898132324,
+          "left_middle_1_joint": 1.1176635026931763,
+          "left_middle_2_joint": 0.09196021407842636,
+          "left_ring_1_joint": 1.0791287422180176,
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+          "left_thumb_1_joint": 0.30763834714889526,
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+          "left_thumb_3_joint": 0.6781724095344543,
+          "left_thumb_4_joint": 0.5228350162506104,
+          "right_index_1_joint": 0.9405854344367981,
+          "right_index_2_joint": 0.21603210270404816,
+          "right_little_1_joint": 1.4334502220153809,
+          "right_little_2_joint": 0.5400116443634033,
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+          "right_middle_2_joint": 0.21471861004829407,
+          "right_ring_1_joint": 1.1389814615249634,
+          "right_ring_2_joint": 0.2415095716714859,
+          "right_thumb_1_joint": 0.21850751340389252,
+          "right_thumb_2_joint": 0.43933552503585815,
+          "right_thumb_3_joint": 0.8681949973106384,
+          "right_thumb_4_joint": 1.1454395055770874
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 59.85129306034158,
+      "joint_effort_rms": 40.902674030827534,
+      "joint_jerk_rms": 6147.373287894109,
+      "joint_velocity_rms": 1.1578168737183283
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8685723267763585,
+      "mean_kinematic_grasp_stability": 0.3682621724933999,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_011_banana_2": 0.6623123579194179,
+        "obj_013_apple_3": 0.7193472166407828,
+        "obj_013_apple_4": 0.22882014225259614
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9194266446749804,
+        "mean_duration_score": 0.15015268707052798,
+        "mean_hold_score": 0.14215194532917816,
+        "mean_kinematic_stability_score": 0.09384051294331859,
+        "mean_legacy_gsi": 0.30211586872088514,
+        "mean_lift_score": 0.22061964017833788,
+        "mean_motion_stability_score": 0.13204866034760446
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1618.88,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/06_fruit_bowl_loading/None/summary.json

@@ -0,0 +1,273 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 44,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1920,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.88,
+      "success_rate_ci": {
+        "mean": 0.88,
+        "ci_low": 0.78,
+        "ci_high": 0.96
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.99
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 22.92348484848483
+    },
+    "safety": {
+      "safe_success_rate": 0.64,
+      "hard_violation_rate": 0.36,
+      "drop_rate": 0.08,
+      "high_speed_violation_rate": 0.34,
+      "safety_violation_step_rate": 0.0004442100002776313
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.96,
+      "at_end_success_rate": 0.88,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.88
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.965,
+      "current_chain_depth_progress_score": 0.96,
+      "latched_chain_depth_progress_score": 0.9866666666666667,
+      "avg_current_chain_depth": 2.88,
+      "avg_latched_chain_depth": 2.96
+    },
+    "efficiency": {
+      "task_efficiency": 0.9339482641707566,
+      "expert_time_s": 21.333333333333332,
+      "expert_time_step": 1280,
+      "avg_steps_to_success": 1375.409090909091,
+      "avg_policy_steps_to_success": 458.75,
+      "avg_policy_queries_to_success": 57.68181818181818
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00034703906271689943,
+      "violation_counts": {
+        "drop_to_table_obj_011_banana_2": 2,
+        "drop_to_table_obj_013_apple_4": 2,
+        "high_speed_obj_011_banana_2": 1,
+        "high_speed_obj_013_apple_3": 8,
+        "high_speed_obj_013_apple_4": 12
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.96,
+      "joint_limit_active_step_rate": 0.1290846497681779,
+      "finger_joint_limit_saturation_step_rate": 0.05855243066159527,
+      "max_joint_limit_excess_rad": 1.633890151977539,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 1300,
+          "left_index_2_joint": 28,
+          "left_little_1_joint": 1598,
+          "left_little_2_joint": 233,
+          "left_middle_1_joint": 1626,
+          "left_middle_2_joint": 287,
+          "left_ring_1_joint": 1739,
+          "left_ring_2_joint": 300,
+          "left_thumb_2_joint": 90,
+          "left_thumb_3_joint": 89,
+          "left_thumb_4_joint": 117,
+          "right_index_1_joint": 581,
+          "right_index_2_joint": 31,
+          "right_little_1_joint": 717,
+          "right_little_2_joint": 134,
+          "right_middle_1_joint": 898,
+          "right_middle_2_joint": 80,
+          "right_ring_1_joint": 718,
+          "right_ring_2_joint": 239,
+          "right_thumb_1_joint": 62,
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+          "right_thumb_4_joint": 485
+        },
+        "joint_limit_hard_counts": {
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+          "left_index_2_joint": 53,
+          "left_little_1_joint": 49,
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+          "left_middle_1_joint": 54,
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+          "left_ring_1_joint": 51,
+          "left_ring_2_joint": 158,
+          "left_thumb_2_joint": 2,
+          "left_thumb_3_joint": 3,
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+          "right_middle_2_joint": 22,
+          "right_ring_1_joint": 16,
+          "right_ring_2_joint": 55,
+          "right_thumb_1_joint": 3,
+          "right_thumb_2_joint": 94,
+          "right_thumb_3_joint": 5,
+          "right_thumb_4_joint": 30
+        },
+        "joint_limit_hard_episode_events": 209,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 503,
+          "left_little_1_joint": 963,
+          "left_little_2_joint": 28,
+          "left_middle_1_joint": 851,
+          "left_middle_2_joint": 67,
+          "left_ring_1_joint": 1022,
+          "left_ring_2_joint": 3,
+          "left_thumb_2_joint": 29,
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+          "left_thumb_4_joint": 41,
+          "right_index_1_joint": 271,
+          "right_little_1_joint": 589,
+          "right_little_2_joint": 17,
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+          "right_middle_2_joint": 7,
+          "right_ring_1_joint": 509,
+          "right_ring_2_joint": 108,
+          "right_thumb_2_joint": 2255,
+          "right_thumb_4_joint": 286
+        },
+        "joint_limit_max_excess_by_joint": {
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+          "left_little_1_joint": 0.9924890995025635,
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+          "right_ring_1_joint": 1.3693370819091797,
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+          "right_thumb_1_joint": 0.14543604850769043,
+          "right_thumb_2_joint": 0.3294830322265625,
+          "right_thumb_3_joint": 0.24785876274108887,
+          "right_thumb_4_joint": 0.9235249757766724
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 55.02749783693533,
+      "joint_effort_rms": 41.443034949606904,
+      "joint_jerk_rms": 5628.665898175333,
+      "joint_velocity_rms": 1.1297354684309697
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8815044456601616,
+      "mean_kinematic_grasp_stability": 0.3183593842507236,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_011_banana_2": 0.6930623430289812,
+        "obj_013_apple_3": 0.7930773275754331,
+        "obj_013_apple_4": 0.2982115292514445
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9067666816983655,
+        "mean_duration_score": 0.12806143973994633,
+        "mean_hold_score": 0.11367303063982426,
+        "mean_kinematic_stability_score": 0.06640692001865897,
+        "mean_legacy_gsi": 0.2800605956116763,
+        "mean_lift_score": 0.20057872338932928,
+        "mean_motion_stability_score": 0.10589967217232606
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1440.76,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/07_citrus_plate_loading/Equi/summary.json

@@ -0,0 +1,285 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 43,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1806,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.86,
+      "success_rate_ci": {
+        "mean": 0.86,
+        "ci_low": 0.76,
+        "ci_high": 0.94
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.915
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 24.211240310077425
+    },
+    "safety": {
+      "safe_success_rate": 0.78,
+      "hard_violation_rate": 0.14,
+      "drop_rate": 0.08,
+      "high_speed_violation_rate": 0.06,
+      "safety_violation_step_rate": 9.320036747573462e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.88,
+      "at_end_success_rate": 0.88,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.86
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.915,
+      "current_chain_depth_progress_score": 0.94,
+      "latched_chain_depth_progress_score": 0.94,
+      "avg_current_chain_depth": 1.88,
+      "avg_latched_chain_depth": 1.88
+    },
+    "efficiency": {
+      "task_efficiency": 0.8317249466146347,
+      "expert_time_s": 20.05,
+      "expert_time_step": 1203,
+      "avg_steps_to_success": 1452.6744186046512,
+      "avg_policy_steps_to_success": 484.5348837209302,
+      "avg_policy_queries_to_success": 61.06976744186046
+    },
+    "safety": {
+      "safety_violation_events_per_step": 9.320036747573462e-05,
+      "violation_counts": {
+        "drop_to_table_obj_014_lemon_2": 1,
+        "drop_to_table_obj_014_lemon_3": 2,
+        "drop_to_table_obj_017_orange_5": 1,
+        "high_speed_obj_014_lemon_2": 2,
+        "high_speed_obj_014_lemon_3": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.96,
+      "joint_limit_active_step_rate": 0.12355705859640247,
+      "finger_joint_limit_saturation_step_rate": 0.042233080804718603,
+      "max_joint_limit_excess_rad": 0.841049313545227,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_dip_joint": 122,
+          "left_index_pip_joint": 178,
+          "left_index_pitch_joint": 235,
+          "left_middle_dip_joint": 700,
+          "left_middle_pip_joint": 1432,
+          "left_middle_pitch_joint": 172,
+          "left_pinky_dip_joint": 63,
+          "left_pinky_mcp_joint": 2266,
+          "left_pinky_pip_joint": 409,
+          "left_ring_dip_joint": 1017,
+          "left_ring_mcp_joint": 75,
+          "left_ring_pip_joint": 2050,
+          "left_thumb_dip_joint": 120,
+          "right_index_dip_joint": 1,
+          "right_index_pip_joint": 1,
+          "right_index_pitch_joint": 20,
+          "right_middle_dip_joint": 373,
+          "right_middle_pip_joint": 637,
+          "right_middle_pitch_joint": 12,
+          "right_pinky_dip_joint": 5,
+          "right_pinky_mcp_joint": 589,
+          "right_pinky_pip_joint": 948,
+          "right_ring_dip_joint": 1062,
+          "right_ring_pip_joint": 2557,
+          "right_thumb_dip_joint": 30,
+          "right_thumb_mcp_joint": 3157
+        },
+        "joint_limit_hard_counts": {
+          "left_index_dip_joint": 39,
+          "left_index_pip_joint": 42,
+          "left_index_pitch_joint": 9,
+          "left_middle_dip_joint": 208,
+          "left_middle_pip_joint": 129,
+          "left_middle_pitch_joint": 18,
+          "left_pinky_dip_joint": 5,
+          "left_pinky_mcp_joint": 145,
+          "left_pinky_pip_joint": 21,
+          "left_ring_dip_joint": 240,
+          "left_ring_mcp_joint": 8,
+          "left_ring_pip_joint": 152,
+          "left_thumb_dip_joint": 17,
+          "right_index_dip_joint": 4,
+          "right_index_pip_joint": 6,
+          "right_index_pitch_joint": 10,
+          "right_middle_dip_joint": 144,
+          "right_middle_pip_joint": 91,
+          "right_middle_pitch_joint": 6,
+          "right_pinky_dip_joint": 1,
+          "right_pinky_mcp_joint": 47,
+          "right_pinky_pip_joint": 40,
+          "right_ring_dip_joint": 98,
+          "right_ring_pip_joint": 97,
+          "right_thumb_dip_joint": 6,
+          "right_thumb_mcp_joint": 73
+        },
+        "joint_limit_hard_episode_events": 377,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_pip_joint": 29,
+          "left_index_pitch_joint": 113,
+          "left_middle_dip_joint": 9,
+          "left_middle_pip_joint": 568,
+          "left_middle_pitch_joint": 63,
+          "left_pinky_dip_joint": 18,
+          "left_pinky_mcp_joint": 703,
+          "left_pinky_pip_joint": 135,
+          "left_ring_dip_joint": 68,
+          "left_ring_mcp_joint": 19,
+          "left_ring_pip_joint": 957,
+          "left_thumb_dip_joint": 16,
+          "right_middle_dip_joint": 1,
+          "right_middle_pip_joint": 87,
+          "right_pinky_mcp_joint": 67,
+          "right_pinky_pip_joint": 599,
+          "right_ring_dip_joint": 214,
+          "right_ring_pip_joint": 1493,
+          "right_thumb_mcp_joint": 191
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 0.13992078602313995,
+          "left_index_pip_joint": 0.39603060483932495,
+          "left_index_pitch_joint": 0.73643958568573,
+          "left_middle_dip_joint": 0.1922132521867752,
+          "left_middle_pip_joint": 0.6565513610839844,
+          "left_middle_pitch_joint": 0.6263741850852966,
+          "left_pinky_dip_joint": 0.3815333843231201,
+          "left_pinky_mcp_joint": 0.6922727823257446,
+          "left_pinky_pip_joint": 0.5113554000854492,
+          "left_ring_dip_joint": 0.2619961202144623,
+          "left_ring_mcp_joint": 0.3352138102054596,
+          "left_ring_pip_joint": 0.841049313545227,
+          "left_thumb_dip_joint": 0.37119826674461365,
+          "left_thumb_yaw_joint": 7.311676017707214e-05,
+          "right_index_dip_joint": 0.012334117665886879,
+          "right_index_pip_joint": 0.010484933853149414,
+          "right_index_pitch_joint": 0.07619019597768784,
+          "right_middle_dip_joint": 0.23131217062473297,
+          "right_middle_pip_joint": 0.49324312806129456,
+          "right_middle_pitch_joint": 0.025668473914265633,
+          "right_pinky_dip_joint": 0.0654599666595459,
+          "right_pinky_mcp_joint": 0.3640609085559845,
+          "right_pinky_pip_joint": 0.728232204914093,
+          "right_ring_dip_joint": 0.3471488952636719,
+          "right_ring_mcp_joint": 0.00023253429390024394,
+          "right_ring_pip_joint": 0.7295956611633301,
+          "right_thumb_dip_joint": 0.10640162974596024,
+          "right_thumb_mcp_joint": 0.1585533767938614,
+          "right_thumb_yaw_joint": 0.000574028876144439
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 81.36449985512877,
+      "joint_effort_rms": 23.8607971070822,
+      "joint_jerk_rms": 8318.792992963641,
+      "joint_velocity_rms": 1.1051654910728108
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8279778120403938,
+      "mean_kinematic_grasp_stability": 0.4520797130143796,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_014_lemon_2": 0.6003191643629674,
+        "obj_014_lemon_3": 0.606146829892045,
+        "obj_017_orange_4": 0.34347504522914285,
+        "obj_017_orange_5": 0.40816598075294525
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7081618709199794,
+        "mean_duration_score": 0.3930884707464071,
+        "mean_hold_score": 0.3428384261093204,
+        "mean_kinematic_stability_score": 0.12160540077992366,
+        "mean_legacy_gsi": 0.426251987706616,
+        "mean_lift_score": 0.4140748582392113,
+        "mean_motion_stability_score": 0.33430586208356877
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1502.14,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/07_citrus_plate_loading/Full/summary.json

@@ -0,0 +1,280 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 200700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 49,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1806,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.98,
+      "success_rate_ci": {
+        "mean": 0.98,
+        "ci_low": 0.94,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.995
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 23.76496598639449
+    },
+    "safety": {
+      "safe_success_rate": 0.98,
+      "hard_violation_rate": 0.02,
+      "drop_rate": 0.02,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 1.3951866062085804e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.98,
+      "at_end_success_rate": 0.98,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.98
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.995,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 2,
+      "avg_latched_chain_depth": 2
+    },
+    "efficiency": {
+      "task_efficiency": 0.8446027894866646,
+      "expert_time_s": 20.05,
+      "expert_time_step": 1203,
+      "avg_steps_to_success": 1425.8979591836735,
+      "avg_policy_steps_to_success": 475.59183673469386,
+      "avg_policy_queries_to_success": 59.91836734693877
+    },
+    "safety": {
+      "safety_violation_events_per_step": 1.3951866062085804e-05,
+      "violation_counts": {
+        "drop_to_table_obj_017_orange_5": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.1431042901988141,
+      "finger_joint_limit_saturation_step_rate": 0.04280432507847925,
+      "max_joint_limit_excess_rad": 0.7017298936843872,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_dip_joint": 39,
+          "left_index_pip_joint": 61,
+          "left_index_pitch_joint": 4,
+          "left_middle_dip_joint": 562,
+          "left_middle_pip_joint": 886,
+          "left_middle_pitch_joint": 47,
+          "left_pinky_dip_joint": 37,
+          "left_pinky_mcp_joint": 1772,
+          "left_pinky_pip_joint": 360,
+          "left_ring_dip_joint": 1018,
+          "left_ring_mcp_joint": 11,
+          "left_ring_pip_joint": 1574,
+          "left_thumb_dip_joint": 12,
+          "right_index_pip_joint": 1,
+          "right_index_pitch_joint": 122,
+          "right_middle_dip_joint": 551,
+          "right_middle_pip_joint": 1082,
+          "right_middle_pitch_joint": 74,
+          "right_pinky_mcp_joint": 820,
+          "right_pinky_pip_joint": 1437,
+          "right_ring_dip_joint": 1181,
+          "right_ring_mcp_joint": 323,
+          "right_ring_pip_joint": 3158,
+          "right_thumb_dip_joint": 335,
+          "right_thumb_mcp_joint": 4529,
+          "right_thumb_pip_joint": 2
+        },
+        "joint_limit_hard_counts": {
+          "left_index_dip_joint": 14,
+          "left_index_pip_joint": 14,
+          "left_index_pitch_joint": 3,
+          "left_middle_dip_joint": 175,
+          "left_middle_pip_joint": 133,
+          "left_middle_pitch_joint": 5,
+          "left_pinky_dip_joint": 2,
+          "left_pinky_mcp_joint": 140,
+          "left_pinky_pip_joint": 20,
+          "left_ring_dip_joint": 242,
+          "left_ring_mcp_joint": 2,
+          "left_ring_pip_joint": 179,
+          "left_thumb_dip_joint": 6,
+          "right_index_pip_joint": 13,
+          "right_index_pitch_joint": 2,
+          "right_middle_dip_joint": 190,
+          "right_middle_pip_joint": 130,
+          "right_middle_pitch_joint": 16,
+          "right_pinky_mcp_joint": 58,
+          "right_pinky_pip_joint": 51,
+          "right_ring_dip_joint": 119,
+          "right_ring_mcp_joint": 1,
+          "right_ring_pip_joint": 108,
+          "right_thumb_dip_joint": 1,
+          "right_thumb_mcp_joint": 86,
+          "right_thumb_pip_joint": 1
+        },
+        "joint_limit_hard_episode_events": 424,
+        "finger_joint_limit_saturation_counts": {
+          "left_middle_dip_joint": 6,
+          "left_middle_pip_joint": 273,
+          "left_pinky_dip_joint": 26,
+          "left_pinky_mcp_joint": 454,
+          "left_pinky_pip_joint": 128,
+          "left_ring_dip_joint": 15,
+          "left_ring_pip_joint": 473,
+          "right_index_pitch_joint": 23,
+          "right_middle_pip_joint": 350,
+          "right_middle_pitch_joint": 3,
+          "right_pinky_mcp_joint": 379,
+          "right_pinky_pip_joint": 932,
+          "right_ring_dip_joint": 293,
+          "right_ring_mcp_joint": 252,
+          "right_ring_pip_joint": 1778,
+          "right_thumb_dip_joint": 318,
+          "right_thumb_mcp_joint": 297
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 0.05708613991737366,
+          "left_index_pip_joint": 0.16758915781974792,
+          "left_index_pitch_joint": 0.035308629274368286,
+          "left_middle_dip_joint": 0.17166489362716675,
+          "left_middle_pip_joint": 0.6380794048309326,
+          "left_middle_pitch_joint": 0.10600429028272629,
+          "left_pinky_dip_joint": 0.6432440280914307,
+          "left_pinky_mcp_joint": 0.6495819091796875,
+          "left_pinky_pip_joint": 0.6384963393211365,
+          "left_ring_dip_joint": 0.21241231262683868,
+          "left_ring_mcp_joint": 0.0700366348028183,
+          "left_ring_pip_joint": 0.4983071982860565,
+          "left_thumb_dip_joint": 0.07677567005157471,
+          "left_thumb_yaw_joint": 6.377031240845099e-05,
+          "right_index_dip_joint": 2.959262019430753e-05,
+          "right_index_pip_joint": 0.01012355275452137,
+          "right_index_pitch_joint": 0.32629871368408203,
+          "right_middle_dip_joint": 0.15584325790405273,
+          "right_middle_pip_joint": 0.5141464471817017,
+          "right_middle_pitch_joint": 0.12414956837892532,
+          "right_pinky_dip_joint": 4.177135451755021e-06,
+          "right_pinky_mcp_joint": 0.4771612286567688,
+          "right_pinky_pip_joint": 0.6453983187675476,
+          "right_ring_dip_joint": 0.3298834264278412,
+          "right_ring_mcp_joint": 0.31109142303466797,
+          "right_ring_pip_joint": 0.641757071018219,
+          "right_thumb_dip_joint": 0.7017298936843872,
+          "right_thumb_mcp_joint": 0.31343430280685425,
+          "right_thumb_pip_joint": 0.046020470559597015,
+          "right_thumb_yaw_joint": 0.00013560646038968116
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 85.83523305586301,
+      "joint_effort_rms": 25.039668247657048,
+      "joint_jerk_rms": 8741.967379906813,
+      "joint_velocity_rms": 1.1612437979745929
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.7971397653074894,
+      "mean_kinematic_grasp_stability": 0.42242698020458536,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_014_lemon_2": 0.5565586551327147,
+        "obj_014_lemon_3": 0.5536859224461629,
+        "obj_017_orange_4": 0.3315138958648452,
+        "obj_017_orange_5": 0.5114312069106826
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6541895960683699,
+        "mean_duration_score": 0.435474569604468,
+        "mean_hold_score": 0.38504938699057906,
+        "mean_kinematic_stability_score": 0.10237015531873837,
+        "mean_legacy_gsi": 0.44725969186809295,
+        "mean_lift_score": 0.4591288698037216,
+        "mean_motion_stability_score": 0.37162490896165645
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1433.5,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/07_citrus_plate_loading/Inv/summary.json

@@ -0,0 +1,291 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 45,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1806,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.9,
+      "success_rate_ci": {
+        "mean": 0.9,
+        "ci_low": 0.82,
+        "ci_high": 0.98
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.965
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 24.052592592592507
+    },
+    "safety": {
+      "safe_success_rate": 0.9,
+      "hard_violation_rate": 0.02,
+      "drop_rate": 0.02,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 1.3518628670307684e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.92,
+      "at_end_success_rate": 0.9,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.9
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.955,
+      "current_chain_depth_progress_score": 0.98,
+      "latched_chain_depth_progress_score": 0.98,
+      "avg_current_chain_depth": 1.96,
+      "avg_latched_chain_depth": 1.96
+    },
+    "efficiency": {
+      "task_efficiency": 0.8356185026323776,
+      "expert_time_s": 20.05,
+      "expert_time_step": 1203,
+      "avg_steps_to_success": 1443.1555555555556,
+      "avg_policy_steps_to_success": 481.4,
+      "avg_policy_queries_to_success": 60.71111111111111
+    },
+    "safety": {
+      "safety_violation_events_per_step": 1.3518628670307684e-05,
+      "violation_counts": {
+        "drop_to_table_obj_014_lemon_2": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.15046233710052453,
+      "finger_joint_limit_saturation_step_rate": 0.05019466825285243,
+      "max_joint_limit_excess_rad": 1.2800039052963257,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_dip_joint": 10,
+          "left_index_pip_joint": 20,
+          "left_index_pitch_joint": 32,
+          "left_middle_dip_joint": 602,
+          "left_middle_pip_joint": 981,
+          "left_middle_pitch_joint": 40,
+          "left_pinky_dip_joint": 50,
+          "left_pinky_mcp_joint": 1808,
+          "left_pinky_pip_joint": 260,
+          "left_ring_dip_joint": 1040,
+          "left_ring_mcp_joint": 50,
+          "left_ring_pip_joint": 1637,
+          "left_thumb_dip_joint": 28,
+          "right_index_dip_joint": 35,
+          "right_index_pip_joint": 161,
+          "right_index_pitch_joint": 349,
+          "right_middle_dip_joint": 634,
+          "right_middle_pip_joint": 1223,
+          "right_middle_pitch_joint": 379,
+          "right_pinky_dip_joint": 3,
+          "right_pinky_mcp_joint": 1091,
+          "right_pinky_pip_joint": 1753,
+          "right_ring_dip_joint": 1502,
+          "right_ring_mcp_joint": 437,
+          "right_ring_pip_joint": 3244,
+          "right_thumb_dip_joint": 337,
+          "right_thumb_mcp_joint": 4906,
+          "right_thumb_pip_joint": 9,
+          "right_thumb_yaw_joint": 300
+        },
+        "joint_limit_hard_counts": {
+          "left_index_dip_joint": 3,
+          "left_index_pip_joint": 9,
+          "left_index_pitch_joint": 10,
+          "left_middle_dip_joint": 198,
+          "left_middle_pip_joint": 139,
+          "left_middle_pitch_joint": 6,
+          "left_pinky_dip_joint": 2,
+          "left_pinky_mcp_joint": 132,
+          "left_pinky_pip_joint": 13,
+          "left_ring_dip_joint": 248,
+          "left_ring_mcp_joint": 6,
+          "left_ring_pip_joint": 168,
+          "left_thumb_dip_joint": 11,
+          "right_index_dip_joint": 13,
+          "right_index_pip_joint": 19,
+          "right_index_pitch_joint": 5,
+          "right_middle_dip_joint": 233,
+          "right_middle_pip_joint": 146,
+          "right_middle_pitch_joint": 13,
+          "right_pinky_dip_joint": 2,
+          "right_pinky_mcp_joint": 79,
+          "right_pinky_pip_joint": 71,
+          "right_ring_dip_joint": 122,
+          "right_ring_mcp_joint": 4,
+          "right_ring_pip_joint": 129,
+          "right_thumb_dip_joint": 22,
+          "right_thumb_mcp_joint": 97,
+          "right_thumb_pip_joint": 1,
+          "right_thumb_yaw_joint": 2
+        },
+        "joint_limit_hard_episode_events": 413,
+        "finger_joint_limit_saturation_counts": {
+          "left_middle_dip_joint": 9,
+          "left_middle_pip_joint": 373,
+          "left_pinky_dip_joint": 29,
+          "left_pinky_mcp_joint": 585,
+          "left_pinky_pip_joint": 86,
+          "left_ring_dip_joint": 64,
+          "left_ring_mcp_joint": 1,
+          "left_ring_pip_joint": 562,
+          "left_thumb_dip_joint": 2,
+          "right_index_pip_joint": 109,
+          "right_index_pitch_joint": 341,
+          "right_middle_dip_joint": 1,
+          "right_middle_pip_joint": 235,
+          "right_middle_pitch_joint": 341,
+          "right_pinky_mcp_joint": 448,
+          "right_pinky_pip_joint": 927,
+          "right_ring_dip_joint": 288,
+          "right_ring_mcp_joint": 414,
+          "right_ring_pip_joint": 2055,
+          "right_thumb_dip_joint": 241,
+          "right_thumb_mcp_joint": 356,
+          "right_thumb_yaw_joint": 253
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 0.05987772345542908,
+          "left_index_pip_joint": 0.04071560874581337,
+          "left_index_pitch_joint": 0.07898592948913574,
+          "left_middle_dip_joint": 0.19408448040485382,
+          "left_middle_pip_joint": 0.5689456462860107,
+          "left_middle_pitch_joint": 0.05593908578157425,
+          "left_pinky_dip_joint": 0.7431046962738037,
+          "left_pinky_mcp_joint": 0.780899703502655,
+          "left_pinky_pip_joint": 0.45967113971710205,
+          "left_ring_dip_joint": 0.23984067142009735,
+          "left_ring_mcp_joint": 0.16434575617313385,
+          "left_ring_pip_joint": 0.5045549869537354,
+          "left_thumb_dip_joint": 0.13834621012210846,
+          "left_thumb_yaw_joint": 6.551784463226795e-05,
+          "right_index_dip_joint": 0.05000520125031471,
+          "right_index_pip_joint": 0.2977517545223236,
+          "right_index_pitch_joint": 1.2800039052963257,
+          "right_middle_dip_joint": 0.1670437455177307,
+          "right_middle_pip_joint": 0.6085731983184814,
+          "right_middle_pitch_joint": 1.2019329071044922,
+          "right_pinky_dip_joint": 0.05215487256646156,
+          "right_pinky_mcp_joint": 0.4974668323993683,
+          "right_pinky_pip_joint": 0.6903078556060791,
+          "right_ring_dip_joint": 0.34986555576324463,
+          "right_ring_mcp_joint": 0.710382878780365,
+          "right_ring_pip_joint": 0.6700536608695984,
+          "right_thumb_dip_joint": 0.8616072535514832,
+          "right_thumb_mcp_joint": 0.34057551622390747,
+          "right_thumb_pip_joint": 0.03830765560269356,
+          "right_thumb_yaw_joint": 0.35013875365257263
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 86.99253561899694,
+      "joint_effort_rms": 25.297346372018975,
+      "joint_jerk_rms": 8864.687968044791,
+      "joint_velocity_rms": 1.1832755405045539
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8312196097370061,
+      "mean_kinematic_grasp_stability": 0.45467701276891226,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_014_lemon_2": 0.6208099621240277,
+        "obj_014_lemon_3": 0.5478930117752113,
+        "obj_017_orange_4": 0.36596388736138874,
+        "obj_017_orange_5": 0.50410557923105
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6627190260965891,
+        "mean_duration_score": 0.44378458503152324,
+        "mean_hold_score": 0.3922304695192492,
+        "mean_kinematic_stability_score": 0.1149156385466708,
+        "mean_legacy_gsi": 0.4557066379694166,
+        "mean_lift_score": 0.465525824478412,
+        "mean_motion_stability_score": 0.38064523772811276
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1479.44,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/07_citrus_plate_loading/None/summary.json

@@ -0,0 +1,275 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 48,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1806,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.96,
+      "success_rate_ci": {
+        "mean": 0.96,
+        "ci_low": 0.9,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.97
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 23.747569444444377
+    },
+    "safety": {
+      "safe_success_rate": 0.96,
+      "hard_violation_rate": 0.04,
+      "drop_rate": 0.04,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 2.7775848899381986e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.96,
+      "at_end_success_rate": 0.96,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.96
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.97,
+      "current_chain_depth_progress_score": 0.98,
+      "latched_chain_depth_progress_score": 0.98,
+      "avg_current_chain_depth": 1.96,
+      "avg_latched_chain_depth": 1.96
+    },
+    "efficiency": {
+      "task_efficiency": 0.846707422214669,
+      "expert_time_s": 20.05,
+      "expert_time_step": 1203,
+      "avg_steps_to_success": 1424.8541666666667,
+      "avg_policy_steps_to_success": 475.3125,
+      "avg_policy_queries_to_success": 59.8125
+    },
+    "safety": {
+      "safety_violation_events_per_step": 2.7775848899381986e-05,
+      "violation_counts": {
+        "drop_to_table_obj_014_lemon_2": 1,
+        "drop_to_table_obj_014_lemon_3": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.96,
+      "joint_limit_active_step_rate": 0.12350531213110201,
+      "finger_joint_limit_saturation_step_rate": 0.03413651829734046,
+      "max_joint_limit_excess_rad": 0.8237759470939636,
+      "robot_constraint_diagnostics": {
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+          "left_index_dip_joint": 35,
+          "left_index_pip_joint": 77,
+          "left_index_pitch_joint": 59,
+          "left_middle_dip_joint": 408,
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+          "left_pinky_dip_joint": 49,
+          "left_pinky_mcp_joint": 1597,
+          "left_pinky_pip_joint": 116,
+          "left_ring_dip_joint": 687,
+          "left_ring_mcp_joint": 24,
+          "left_ring_pip_joint": 1593,
+          "left_thumb_dip_joint": 158,
+          "right_index_dip_joint": 13,
+          "right_index_pip_joint": 12,
+          "right_index_pitch_joint": 4,
+          "right_middle_dip_joint": 336,
+          "right_middle_pip_joint": 591,
+          "right_pinky_mcp_joint": 642,
+          "right_pinky_pip_joint": 888,
+          "right_ring_dip_joint": 1004,
+          "right_ring_pip_joint": 2610,
+          "right_thumb_dip_joint": 7,
+          "right_thumb_mcp_joint": 3528
+        },
+        "joint_limit_hard_counts": {
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+          "left_index_pip_joint": 6,
+          "left_index_pitch_joint": 1,
+          "left_middle_dip_joint": 184,
+          "left_middle_pip_joint": 111,
+          "left_middle_pitch_joint": 2,
+          "left_pinky_dip_joint": 2,
+          "left_pinky_mcp_joint": 149,
+          "left_pinky_pip_joint": 10,
+          "left_ring_dip_joint": 229,
+          "left_ring_mcp_joint": 1,
+          "left_ring_pip_joint": 141,
+          "left_thumb_dip_joint": 12,
+          "right_index_dip_joint": 5,
+          "right_index_pip_joint": 5,
+          "right_index_pitch_joint": 4,
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+          "right_middle_pip_joint": 102,
+          "right_middle_pitch_joint": 6,
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+          "right_ring_pip_joint": 101,
+          "right_thumb_dip_joint": 2,
+          "right_thumb_mcp_joint": 87
+        },
+        "joint_limit_hard_episode_events": 382,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_pip_joint": 18,
+          "left_index_pitch_joint": 40,
+          "left_middle_pip_joint": 233,
+          "left_pinky_dip_joint": 24,
+          "left_pinky_mcp_joint": 412,
+          "left_pinky_pip_joint": 22,
+          "left_ring_dip_joint": 11,
+          "left_ring_mcp_joint": 13,
+          "left_ring_pip_joint": 553,
+          "left_thumb_dip_joint": 45,
+          "right_middle_pip_joint": 115,
+          "right_pinky_mcp_joint": 110,
+          "right_pinky_pip_joint": 453,
+          "right_ring_dip_joint": 117,
+          "right_ring_pip_joint": 1565,
+          "right_thumb_mcp_joint": 5
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 0.08898286521434784,
+          "left_index_pip_joint": 0.3472951650619507,
+          "left_index_pitch_joint": 0.6247618198394775,
+          "left_middle_dip_joint": 0.08558506518602371,
+          "left_middle_pip_joint": 0.4867784082889557,
+          "left_middle_pitch_joint": 0.007068582344800234,
+          "left_pinky_dip_joint": 0.6052839756011963,
+          "left_pinky_mcp_joint": 0.6312720775604248,
+          "left_pinky_pip_joint": 0.39636966586112976,
+          "left_ring_dip_joint": 0.19481775164604187,
+          "left_ring_mcp_joint": 0.27375462651252747,
+          "left_ring_pip_joint": 0.6383783221244812,
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+          "left_thumb_yaw_joint": 7.408622332150117e-05,
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+          "right_middle_pip_joint": 0.39156603813171387,
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+          "right_pinky_dip_joint": 1.7385926867063972e-06,
+          "right_pinky_mcp_joint": 0.42411431670188904,
+          "right_pinky_pip_joint": 0.8237759470939636,
+          "right_ring_dip_joint": 0.2860642075538635,
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+          "right_ring_pip_joint": 0.752504825592041,
+          "right_thumb_dip_joint": 0.055666062980890274,
+          "right_thumb_mcp_joint": 0.10663709789514542,
+          "right_thumb_yaw_joint": 0.00021041417494416237
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 82.79785365323065,
+      "joint_effort_rms": 23.928746206144595,
+      "joint_jerk_rms": 8485.687626993242,
+      "joint_velocity_rms": 1.0937343514759286
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.8308110492054371,
+      "mean_kinematic_grasp_stability": 0.45404124064787477,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_014_lemon_2": 0.6552810232888794,
+        "obj_014_lemon_3": 0.6022313650119546,
+        "obj_017_orange_4": 0.3655057932114172,
+        "obj_017_orange_5": 0.4652942372594581
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6952967301888235,
+        "mean_duration_score": 0.40988925005339744,
+        "mean_hold_score": 0.3567441346286544,
+        "mean_kinematic_stability_score": 0.1288166051723282,
+        "mean_legacy_gsi": 0.43553940565376564,
+        "mean_lift_score": 0.4303064032364919,
+        "mean_motion_stability_score": 0.34831987822279553
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1440.1,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/08_frypan_stand_pour/Equi/summary.json

@@ -0,0 +1,243 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100800000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 26,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3432,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.52,
+      "success_rate_ci": {
+        "mean": 0.52,
+        "ci_low": 0.38,
+        "ci_high": 0.66
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.74
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 34.93974358974289
+    },
+    "safety": {
+      "safe_success_rate": 0.2,
+      "hard_violation_rate": 0.5,
+      "drop_rate": 0.5,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0001972617151540833
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.52,
+      "at_end_success_rate": 0.52,
+      "task_family_success_rate": {
+        "pour_tilt": 0.52
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.02,
+      "current_chain_depth_progress_score": 0.04,
+      "latched_chain_depth_progress_score": 0.9,
+      "avg_current_chain_depth": 0.04,
+      "avg_latched_chain_depth": 0.9
+    },
+    "efficiency": {
+      "task_efficiency": 1.1134398356746384,
+      "expert_time_s": 38.13333333333333,
+      "expert_time_step": 2288,
+      "avg_steps_to_success": 2096.3846153846152,
+      "avg_policy_steps_to_success": 699,
+      "avg_policy_queries_to_success": 87.8076923076923
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0001972617151540833,
+      "violation_counts": {
+        "drop_to_table_obj_146_olive_oil_1": 2,
+        "drop_to_table_obj_172_soy_sauce_1": 25
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.5,
+      "joint_limit_active_step_rate": 0.06913657816678112,
+      "finger_joint_limit_saturation_step_rate": 0.020186448850767858,
+      "max_joint_limit_excess_rad": 0.4711398184299469,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_hand_Middle_Finger_Proximal": 17,
+          "left_hand_Thumb_Flexion": 194,
+          "left_hand_Thumb_Opposition": 58,
+          "left_hand_j3": 470,
+          "right_hand_Index_Finger_Distal": 358,
+          "right_hand_Index_Finger_Proximal": 104,
+          "right_hand_Middle_Finger_Distal": 390,
+          "right_hand_Middle_Finger_Proximal": 607,
+          "right_hand_Pinky": 85,
+          "right_hand_Ring_Finger": 479,
+          "right_hand_Thumb_Flexion": 7666,
+          "right_hand_j12": 36,
+          "right_hand_j13": 48,
+          "right_hand_j3": 307
+        },
+        "joint_limit_hard_counts": {
+          "left_hand_Middle_Finger_Proximal": 4,
+          "left_hand_Thumb_Flexion": 18,
+          "left_hand_Thumb_Opposition": 52,
+          "left_hand_index_spread": 7,
+          "left_hand_j3": 21,
+          "right_hand_Index_Finger_Distal": 95,
+          "right_hand_Index_Finger_Proximal": 56,
+          "right_hand_Middle_Finger_Distal": 195,
+          "right_hand_Middle_Finger_Proximal": 467,
+          "right_hand_Pinky": 45,
+          "right_hand_Ring_Finger": 223,
+          "right_hand_Thumb_Flexion": 281,
+          "right_hand_j12": 85,
+          "right_hand_j13": 49,
+          "right_hand_j3": 68
+        },
+        "joint_limit_hard_episode_events": 938,
+        "finger_joint_limit_saturation_counts": {
+          "left_hand_Thumb_Flexion": 27,
+          "left_hand_j3": 136,
+          "right_hand_Middle_Finger_Proximal": 46,
+          "right_hand_Ring_Finger": 105,
+          "right_hand_Thumb_Flexion": 2495
+        },
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+          "left_hand_j14": 3.052139072678983e-05,
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+          "left_hand_j4": 8.458713729453393e-09,
+          "left_hand_j5": 0.003801144426688552,
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+          "right_hand_Finger_Spread": 0.004806404933333397,
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+          "right_hand_Middle_Finger_Proximal": 0.4077962338924408,
+          "right_hand_Pinky": 0.1565065234899521,
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+          "right_hand_Thumb_Flexion": 0.3813782036304474,
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+          "right_hand_j13": 0.14924874901771545,
+          "right_hand_j14": 0.000631960341706872,
+          "right_hand_j15": 0.00021498989372048527,
+          "right_hand_j16": 0.00031258544186130166,
+          "right_hand_j17": 0.00034751041675917804,
+          "right_hand_j3": 0.1503145545721054,
+          "right_hand_ring_spread": 0.00384341343306005
+        },
+        "coverage": {
+          "hard_limit_source": {
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+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 12.717422795192208,
+      "joint_effort_rms": 24.2581871671886,
+      "joint_jerk_rms": 1234.9944671760863,
+      "joint_velocity_rms": 0.3800565463617499
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.904641529342463,
+      "mean_kinematic_grasp_stability": 0.4654717649625688,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_146_olive_oil_1": 0.7883508037957823,
+        "obj_172_soy_sauce_1": 0.8003349451727596
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.976622169762478,
+        "mean_duration_score": 0.42034467141006476,
+        "mean_hold_score": 0.15555073176743442,
+        "mean_kinematic_stability_score": 0.10499637012236744,
+        "mean_legacy_gsi": 0.36819650415576427,
+        "mean_lift_score": 0.21191245872549289,
+        "mean_motion_stability_score": 0.13724998120915738
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": 0.98,
+      "tool_switch_success_rate": 0.0,
+      "tool_switch_total": 421,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2737.48,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/08_frypan_stand_pour/Full/summary.json

@@ -0,0 +1,235 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 200800000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 31,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3432,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.62,
+      "success_rate_ci": {
+        "mean": 0.62,
+        "ci_low": 0.48,
+        "ci_high": 0.76
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.91
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 36.31021505376266
+    },
+    "safety": {
+      "safe_success_rate": 0.28,
+      "hard_violation_rate": 0.58,
+      "drop_rate": 0.58,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00021846397227767524
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.62,
+      "at_end_success_rate": 0.62,
+      "task_family_success_rate": {
+        "pour_tilt": 0.62
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.04,
+      "current_chain_depth_progress_score": 0.08,
+      "latched_chain_depth_progress_score": 0.98,
+      "avg_current_chain_depth": 0.08,
+      "avg_latched_chain_depth": 0.98
+    },
+    "efficiency": {
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+      "expert_time_s": 38.13333333333333,
+      "expert_time_step": 2288,
+      "avg_steps_to_success": 2178.6129032258063,
+      "avg_policy_steps_to_success": 726.5483870967741,
+      "avg_policy_queries_to_success": 91.25806451612904
+    },
+    "safety": {
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+      "violation_counts": {
+        "drop_to_table_obj_172_soy_sauce_1": 29
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.4,
+      "joint_limit_active_step_rate": 0.09030848619533692,
+      "finger_joint_limit_saturation_step_rate": 0.02018908433462654,
+      "max_joint_limit_excess_rad": 0.3242875635623932,
+      "robot_constraint_diagnostics": {
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+          "left_hand_Thumb_Flexion": 270,
+          "left_hand_Thumb_Opposition": 2,
+          "left_hand_j3": 331,
+          "right_hand_Index_Finger_Distal": 474,
+          "right_hand_Index_Finger_Proximal": 23,
+          "right_hand_Middle_Finger_Distal": 516,
+          "right_hand_Middle_Finger_Proximal": 537,
+          "right_hand_Pinky": 4,
+          "right_hand_Ring_Finger": 291,
+          "right_hand_Thumb_Flexion": 10401,
+          "right_hand_j13": 10,
+          "right_hand_j3": 177
+        },
+        "joint_limit_hard_counts": {
+          "left_hand_Thumb_Flexion": 21,
+          "left_hand_Thumb_Opposition": 16,
+          "left_hand_j3": 10,
+          "right_hand_Index_Finger_Distal": 111,
+          "right_hand_Index_Finger_Proximal": 45,
+          "right_hand_Middle_Finger_Distal": 162,
+          "right_hand_Middle_Finger_Proximal": 539,
+          "right_hand_Pinky": 29,
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+          "right_hand_Thumb_Flexion": 242,
+          "right_hand_j12": 60,
+          "right_hand_j13": 29,
+          "right_hand_j3": 34
+        },
+        "joint_limit_hard_episode_events": 891,
+        "finger_joint_limit_saturation_counts": {
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+          "right_hand_Thumb_Flexion": 2576
+        },
+        "joint_limit_max_excess_by_joint": {
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+          "left_hand_j14": 1.803840495995246e-05,
+          "left_hand_j3": 0.3242875635623932,
+          "left_hand_j4": 1.1812577582759332e-08,
+          "left_hand_j5": 0.002773865358904004,
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+          "right_hand_Middle_Finger_Distal": 0.17284245789051056,
+          "right_hand_Middle_Finger_Proximal": 0.1643942892551422,
+          "right_hand_Pinky": 0.015088435262441635,
+          "right_hand_Ring_Finger": 0.1175995022058487,
+          "right_hand_Thumb_Flexion": 0.317638635635376,
+          "right_hand_index_spread": 0.001613490516319871,
+          "right_hand_j12": 0.007944717071950436,
+          "right_hand_j13": 0.016012907028198242,
+          "right_hand_j14": 0.0005289782420732081,
+          "right_hand_j15": 0.00026564180734567344,
+          "right_hand_j16": 0.00017787597607821226,
+          "right_hand_j17": 6.235872569959611e-05,
+          "right_hand_j3": 0.09571722894906998,
+          "right_hand_ring_spread": 0.0033417970407754183
+        },
+        "coverage": {
+          "hard_limit_source": {
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+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
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+      "joint_effort_rms": 25.115869666330635,
+      "joint_jerk_rms": 1307.345822135929,
+      "joint_velocity_rms": 0.4044540799472592
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9294390815256836,
+      "mean_kinematic_grasp_stability": 0.46287905386880623,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_146_olive_oil_1": 0.8857512946346672,
+        "obj_172_soy_sauce_1": 0.846179148591999
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9668368893812228,
+        "mean_duration_score": 0.4670636579387583,
+        "mean_hold_score": 0.1859283884066753,
+        "mean_kinematic_stability_score": 0.12664031650818364,
+        "mean_legacy_gsi": 0.39310564414558086,
+        "mean_lift_score": 0.2505382090160482,
+        "mean_motion_stability_score": 0.16447750157322522
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": 1.0,
+      "tool_switch_success_rate": 0.0,
+      "tool_switch_total": 457,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2654.9,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/08_frypan_stand_pour/Inv/summary.json

@@ -0,0 +1,235 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100800000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 32,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3432,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.64,
+      "success_rate_ci": {
+        "mean": 0.64,
+        "ci_low": 0.5,
+        "ci_high": 0.78
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.92
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 34.902083333332634
+    },
+    "safety": {
+      "safe_success_rate": 0.26,
+      "hard_violation_rate": 0.62,
+      "drop_rate": 0.62,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0002407056558064416
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.64,
+      "at_end_success_rate": 0.64,
+      "task_family_success_rate": {
+        "pour_tilt": 0.64
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.08,
+      "current_chain_depth_progress_score": 0.16,
+      "latched_chain_depth_progress_score": 0.96,
+      "avg_current_chain_depth": 0.16,
+      "avg_latched_chain_depth": 0.96
+    },
+    "efficiency": {
+      "task_efficiency": 1.10724674093225,
+      "expert_time_s": 38.13333333333333,
+      "expert_time_step": 2288,
+      "avg_steps_to_success": 2094.125,
+      "avg_policy_steps_to_success": 698.40625,
+      "avg_policy_queries_to_success": 87.78125
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0002407056558064416,
+      "violation_counts": {
+        "drop_to_table_obj_172_soy_sauce_1": 31
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.3,
+      "joint_limit_active_step_rate": 0.07966580737335777,
+      "finger_joint_limit_saturation_step_rate": 0.020157157499145883,
+      "max_joint_limit_excess_rad": 0.38074448704719543,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_hand_Thumb_Flexion": 234,
+          "left_hand_j3": 456,
+          "right_hand_Index_Finger_Distal": 491,
+          "right_hand_Index_Finger_Proximal": 13,
+          "right_hand_Middle_Finger_Distal": 542,
+          "right_hand_Middle_Finger_Proximal": 536,
+          "right_hand_Pinky": 20,
+          "right_hand_Ring_Finger": 210,
+          "right_hand_Thumb_Flexion": 8378,
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+          "right_hand_j3": 396
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+        "coverage": {
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+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
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+      "joint_jerk_rms": 1304.0557946919753,
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+    },
+    "grasp": {
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+      "mean_kinematic_grasp_stability": 0.47257914297331793,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_146_olive_oil_1": 0.9010398943649054,
+        "obj_172_soy_sauce_1": 0.8357323869420689
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9606839991329648,
+        "mean_duration_score": 0.4680985572565595,
+        "mean_hold_score": 0.18937138139993476,
+        "mean_kinematic_stability_score": 0.12779402822854294,
+        "mean_legacy_gsi": 0.3922197230622207,
+        "mean_lift_score": 0.2508215668819465,
+        "mean_motion_stability_score": 0.16332674068331066
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+    },
+    "tool": {
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+      "tool_switch_success_rate": 0.0,
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+      "tool_switch_successful": 0
+    },
+    "runtime": {
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+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/08_frypan_stand_pour/None/summary.json

@@ -0,0 +1,243 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100800000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 31,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3432,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
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+      "success_rate_ci": {
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+        "ci_low": 0.48,
+        "ci_high": 0.76
+      }
+    },
+    "progress": {
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+    "efficiency": {
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+    "safety": {
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+      "hard_violation_rate": 0.5,
+      "drop_rate": 0.5,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00020870855782386544
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
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+      "task_family_success_rate": {
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+      "avg_current_chain_depth": 0.14,
+      "avg_latched_chain_depth": 0.96
+    },
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+      "avg_policy_steps_to_success": 690.2258064516129,
+      "avg_policy_queries_to_success": 86.64516129032258
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+        "drop_to_table_obj_172_soy_sauce_1": 25
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+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.36,
+      "joint_limit_active_step_rate": 0.06434407538243911,
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+      "max_joint_limit_excess_rad": 0.4790991544723511,
+      "robot_constraint_diagnostics": {
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+          "right_hand_Pinky": 75,
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+          "right_hand_Thumb_Flexion": 7166,
+          "right_hand_j12": 47,
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+          "right_hand_Index_Finger_Proximal": 64,
+          "right_hand_Middle_Finger_Distal": 158,
+          "right_hand_Middle_Finger_Proximal": 345,
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+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
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+        "soft_limit_sources": {
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+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
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+          },
+          "post_reset": {
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+            "hard_violation_episodes": 0
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+        }
+      }
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+      "joint_velocity_rms": 0.38647694574122643
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+    "grasp": {
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+      "mean_kinematic_grasp_stability": 0.4546801161660266,
+      "per_object_best_kinematic_grasp_stability": {
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+        "obj_172_soy_sauce_1": 0.8184527901191002
+      },
+      "grasp_gsi_diagnostics": {
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+        "mean_duration_score": 0.46374990692717677,
+        "mean_hold_score": 0.16260715219143188,
+        "mean_kinematic_stability_score": 0.10493192879220996,
+        "mean_legacy_gsi": 0.375270634838996,
+        "mean_lift_score": 0.2227504202991156,
+        "mean_motion_stability_score": 0.1395934758376354
+      }
+    },
+    "tool": {
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+      "tool_switch_success_rate": 0.0,
+      "tool_switch_total": 394,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
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+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/09_cleaner_moisturizer_box_loading/Equi/summary.json

@@ -0,0 +1,239 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100900000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 28,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1926,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
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+      "success_rate_ci": {
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+        "ci_low": 0.42,
+        "ci_high": 0.7
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.02
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 25.344047619047462
+    },
+    "safety": {
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+      "hard_violation_rate": 0.02,
+      "drop_rate": 0.02,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 1.1771630370806357e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.58,
+      "at_end_success_rate": 0.56,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.56
+      }
+    },
+    "progress": {
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+      "current_chain_depth_progress_score": 0.02,
+      "latched_chain_depth_progress_score": 0.02,
+      "avg_current_chain_depth": 0.04,
+      "avg_latched_chain_depth": 0.04
+    },
+    "efficiency": {
+      "task_efficiency": 0.8476150620175567,
+      "expert_time_s": 21.383333333333333,
+      "expert_time_step": 1283,
+      "avg_steps_to_success": 1520.642857142857,
+      "avg_policy_steps_to_success": 507.25,
+      "avg_policy_queries_to_success": 63.892857142857146
+    },
+    "safety": {
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+        "joint_limit_hard_episode_events": 1008,
+        "finger_joint_limit_saturation_counts": {
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+          "leap_l_2": 61,
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+          "multi_leap_r_6": 0.6078863143920898,
+          "multi_leap_r_9": 0.47565871477127075
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
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+      "joint_effort_rms": 67.55670156783583,
+      "joint_jerk_rms": 2233.0932153678937,
+      "joint_velocity_rms": 0.717586297806253
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9609857725782825,
+      "mean_kinematic_grasp_stability": 0.5582489525921711,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_200_cleaner_2": 0.9168713010184544,
+        "obj_209_soap_3": 0.8265454273845796
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7913613383117887,
+        "mean_duration_score": 0.43511291989130985,
+        "mean_hold_score": 0.41680160979207337,
+        "mean_kinematic_stability_score": 0.17190035569555473,
+        "mean_legacy_gsi": 0.48956364627185606,
+        "mean_lift_score": 0.4762212276020351,
+        "mean_motion_stability_score": 0.38860373006878973
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1699,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json

@@ -0,0 +1,232 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 200900000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 40,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1926,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.8,
+      "success_rate_ci": {
+        "mean": 0.8,
+        "ci_low": 0.68,
+        "ci_high": 0.9
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 24.12041666666658
+    },
+    "safety": {
+      "safe_success_rate": 0.8,
+      "hard_violation_rate": 0.0,
+      "drop_rate": 0.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.8,
+      "at_end_success_rate": 0.8,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.8
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.0,
+      "current_chain_depth_progress_score": 0.0,
+      "latched_chain_depth_progress_score": 0.0,
+      "avg_current_chain_depth": 0,
+      "avg_latched_chain_depth": 0
+    },
+    "efficiency": {
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+      "expert_time_s": 21.383333333333333,
+      "expert_time_step": 1283,
+      "avg_steps_to_success": 1447.225,
+      "avg_policy_steps_to_success": 482.775,
+      "avg_policy_queries_to_success": 60.825
+    },
+    "safety": {
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+      "violation_counts": {},
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.15747449740113287,
+      "finger_joint_limit_saturation_step_rate": 0.09147234572061855,
+      "max_joint_limit_excess_rad": 1.154880404472351,
+      "robot_constraint_diagnostics": {
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+          "multi_leap_r_10": 5864,
+          "multi_leap_r_11": 6,
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+          "multi_leap_r_5": 1300,
+          "multi_leap_r_6": 542,
+          "multi_leap_r_9": 895
+        },
+        "joint_limit_hard_counts": {
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+        "joint_limit_hard_episode_events": 1150,
+        "finger_joint_limit_saturation_counts": {
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+          "multi_leap_r_15": 0.009847640991210938,
+          "multi_leap_r_2": 0.9436476230621338,
+          "multi_leap_r_3": 0.002360731363296509,
+          "multi_leap_r_5": 0.4992366433143616,
+          "multi_leap_r_6": 0.3997129797935486,
+          "multi_leap_r_9": 0.7127178311347961
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 50,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 50
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 50
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 50,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
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+      "joint_effort_rms": 67.34864772744992,
+      "joint_jerk_rms": 2351.9114400780177,
+      "joint_velocity_rms": 0.7267342568894307
+    },
+    "grasp": {
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+      "mean_kinematic_grasp_stability": 0.5182979078657812,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_200_cleaner_2": 0.9208960972417642,
+        "obj_209_soap_3": 0.8550927211613784
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7644464824142924,
+        "mean_duration_score": 0.4128117773663791,
+        "mean_hold_score": 0.39769644366356605,
+        "mean_kinematic_stability_score": 0.1257758410780741,
+        "mean_legacy_gsi": 0.4681588003138688,
+        "mean_lift_score": 0.4569118430649053,
+        "mean_motion_stability_score": 0.3680038097424957
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1542.98,
+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/09_cleaner_moisturizer_box_loading/Inv/summary.json

@@ -0,0 +1,228 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100900000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 40,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1926,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.8,
+      "success_rate_ci": {
+        "mean": 0.8,
+        "ci_low": 0.68,
+        "ci_high": 0.9
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.02
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 24.11916666666658
+    },
+    "safety": {
+      "safe_success_rate": 0.8,
+      "hard_violation_rate": 0.0,
+      "drop_rate": 0.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.8,
+      "at_end_success_rate": 0.8,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.8
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.02,
+      "current_chain_depth_progress_score": 0.02,
+      "latched_chain_depth_progress_score": 0.02,
+      "avg_current_chain_depth": 0.04,
+      "avg_latched_chain_depth": 0.04
+    },
+    "efficiency": {
+      "task_efficiency": 0.8886275225274596,
+      "expert_time_s": 21.383333333333333,
+      "expert_time_step": 1283,
+      "avg_steps_to_success": 1447.15,
+      "avg_policy_steps_to_success": 482.725,
+      "avg_policy_queries_to_success": 60.75
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0,
+      "violation_counts": {},
+      "robot_constraint_violation_rate": 1.0,
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+          "post_reset": {
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+      "grasp_gsi_diagnostics": {
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+        "mean_hold_score": 0.4095858518156021,
+        "mean_kinematic_stability_score": 0.12923055886905727,
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+        "mean_lift_score": 0.4636033148114932,
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+      }
+    },
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+      "tool_switch_successful": 0
+    },
+    "runtime": {
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+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/09_cleaner_moisturizer_box_loading/None/summary.json

@@ -0,0 +1,243 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 100900000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 37,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 1926,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
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+    "robustness": {}
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+  "diagnostic_metrics": {
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+      "task_family_success_rate": {
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+      "grasp_gsi_diagnostics": {
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+        "mean_kinematic_stability_score": 0.13031380288823557,
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+        "mean_lift_score": 0.46009531520537034,
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+      "tool_switch_successful": 0
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+    "runtime": {
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+      "error_count": 0
+    }
+  }
+}

phoenix-mwa/per_task_eval/12_screwdriver_box_and_hammer/Equi/summary.json

@@ -0,0 +1,275 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "Phoenix-dex-step20000",
+    "base_seed": 101200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 50,
+    "successes": 25,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3447,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
+      "safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
+      "finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
+      "safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
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+      "success_rate_ci": {
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+        "ci_high": 0.64
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+    },
+    "progress": {
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+    "efficiency": {
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+    "safety": {
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+      "hard_violation_rate": 0.42,
+      "drop_rate": 0.16,
+      "high_speed_violation_rate": 0.26,
+      "safety_violation_step_rate": 0.00028892995128506634
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.54,
+      "at_end_success_rate": 0.5,
+      "task_family_success_rate": {
+        "tool_precision_place": 0.5
+      }
+    },
+    "progress": {
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+      "current_chain_depth_progress_score": 0.73,
+      "latched_chain_depth_progress_score": 0.74,
+      "avg_current_chain_depth": 2.92,
+      "avg_latched_chain_depth": 2.96
+    },
+    "efficiency": {
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+      "expert_time_s": 38.28333333333333,
+      "expert_time_step": 2297,
+      "avg_steps_to_success": 2506,
+      "avg_policy_steps_to_success": 835.68,
+      "avg_policy_queries_to_success": 104.8
+    },
+    "safety": {
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+      "violation_counts": {
+        "drop_to_table_obj_043_phillips_screwdriver_1": 2,
+        "drop_to_table_obj_048_hammer_3": 6,
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+}