diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..5f9af1c67855940b278f4c0a4c2a684bf947c396 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,103 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode0/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode1/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode10/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode11/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode12/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode13/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode14/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode15/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode16/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode17/data/episode17.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode18/data/episode18.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode19/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode2/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode20/data/episode20.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode21/data/episode21.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode22/data/episode22.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode23/data/episode23.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode24/data/episode24.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode25/data/episode25.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode26/data/episode26.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode27/data/episode27.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode28/data/episode28.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode29/data/episode29.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode3/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode30/data/episode30.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode31/data/episode31.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode32/data/episode32.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode33/data/episode33.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode34/data/episode34.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode35/data/episode35.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode36/data/episode36.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode37/data/episode37.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode38/data/episode38.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode39/data/episode39.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode4/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode40/data/episode40.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode41/data/episode41.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode42/data/episode42.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode43/data/episode43.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode44/data/episode44.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode45/data/episode45.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode46/data/episode46.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode47/data/episode47.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode48/data/episode48.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode49/data/episode49.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode5/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode6/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode7/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode8/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/.accepted_bundles/episode9/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+place_dual_shoes/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode20.hdf5 filter=lfs diff=lfs merge=lfs -text
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+place_dual_shoes/data/episode22.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode23.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode24.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode25.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode26.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode27.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode28.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode29.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode30.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode31.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode32.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode33.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode34.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode35.hdf5 filter=lfs diff=lfs merge=lfs -text
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+place_dual_shoes/data/episode39.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode40.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode41.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode42.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode43.hdf5 filter=lfs diff=lfs merge=lfs -text
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+place_dual_shoes/data/episode47.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode48.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode49.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_dual_shoes/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/place_dual_shoes/.accepted_bundles/episode0/data/episode0.hdf5 b/place_dual_shoes/.accepted_bundles/episode0/data/episode0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..95f0a7b5c20992b3f5d69c75c1a0a8623920d3d3
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode0/data/episode0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233f56c49337dfa4f7ff83ba1dbd6e84881919028afaf8c4d70a5f3065acb75e
+size 38509018
diff --git a/place_dual_shoes/.accepted_bundles/episode0/instructions/episode0.json b/place_dual_shoes/.accepted_bundles/episode0/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a7c935a407f787623ffca1550d4dbc3815da6f4
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode0/instructions/episode0.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the medium-sized rounded white shoe, tips left, drop them into the smooth orange box for shoes."
+  ],
+  "unseen": [
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode0/phase_trace/episode0.json b/place_dual_shoes/.accepted_bundles/episode0/phase_trace/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab58d6e53891778ba667659fc35c7ad81396f8b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode0/phase_trace/episode0.json
@@ -0,0 +1,1809 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
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+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 225,
+    "head_unique_frame_ratio": 0.9555555555555556,
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+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
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+      "right": 0
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+        "contact_step_indices": [],
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+        "minimum_capsule_distance_m": 0.24113642452111442
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+      "left_lift+right_lift": {
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+      },
+      "left_place+right_prepare": {
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+      }
+    },
+    "physics_steps_checked": 3915
+  },
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+  "motion_cross_check": {
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+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
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+      "resources": [
+        "left_arm",
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+        "left_shoe",
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+        "right_shoe"
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+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
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+      "end_physics_step": 2077,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
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+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1207,
+      "true_dependency_wait_arms": [],
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+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 225,
+      "end_physics_step": 3015,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2077,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 0,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 225,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode0/validation/episode0.json b/place_dual_shoes/.accepted_bundles/episode0/validation/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..460089fd6a39eeb2e397f1dd34bc78c243e9bd21
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode0/validation/episode0.json
@@ -0,0 +1,1490 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.14470645957082898,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19009,
+  "training_actions_executed": 217
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode0/video/episode0.mp4 b/place_dual_shoes/.accepted_bundles/episode0/video/episode0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca227e25e0f556a2c097867451c3e458e987d34e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode0/video/episode0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac97ffabc8208eaca610a746a4d5b8c9fe249da28cc90602cedde179bb2ce8aa
+size 163242
diff --git a/place_dual_shoes/.accepted_bundles/episode1/data/episode1.hdf5 b/place_dual_shoes/.accepted_bundles/episode1/data/episode1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..37c7ac431d19827e005375a4f2c9f85e8bac1f78
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode1/data/episode1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db7d8b63bb05251565501517a1b59caa2568c5ab772eb6ea7fbd186fa0b249f
+size 46836197
diff --git a/place_dual_shoes/.accepted_bundles/episode1/instructions/episode1.json b/place_dual_shoes/.accepted_bundles/episode1/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a146febadfdec36c7fa3c67d7332f7deb422d331
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode1/instructions/episode1.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Position two the shoe with smooth leather upper into the medium orange box with smooth surface, shoe tips leftward."
+  ],
+  "unseen": [
+    "Use both arms to move two the white leather shoe with gum sole to the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode1/phase_trace/episode1.json b/place_dual_shoes/.accepted_bundles/episode1/phase_trace/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e417d309ed0cf9153500be1fa81ac93d1a6d102
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode1/phase_trace/episode1.json
@@ -0,0 +1,1977 @@
+{
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+        "right_shoe"
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+        "left_place",
+        "right_prepare"
+      ],
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+        "left_lift",
+        "right_lift"
+      ],
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+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+    },
+    {
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+        "left",
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+      "end_physics_step": 3388,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 168,
+      "start_physics_step": 2277,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 1,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 249,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2137562334537506,
+      -0.02289975807070732,
+      0.6398221254348755,
+      0.4543066918849945,
+      0.45085182785987854,
+      0.5433792471885681,
+      0.5432100892066956
+    ],
+    "right_shoe_pose": [
+      0.2802801728248596,
+      -0.086089588701725,
+      0.6398223042488098,
+      0.3636966943740845,
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diff --git a/place_dual_shoes/.accepted_bundles/episode1/validation/episode1.json b/place_dual_shoes/.accepted_bundles/episode1/validation/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8993df3f34389c3b1fa1b045df58c49d350ce9c1
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode1/validation/episode1.json
@@ -0,0 +1,1658 @@
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index 0000000000000000000000000000000000000000..1eff88a553f804d6022d47ab37efcb5870a5423b
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 187795
diff --git a/place_dual_shoes/.accepted_bundles/episode10/data/episode10.hdf5 b/place_dual_shoes/.accepted_bundles/episode10/data/episode10.hdf5
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diff --git a/place_dual_shoes/.accepted_bundles/episode10/instructions/episode10.json b/place_dual_shoes/.accepted_bundles/episode10/instructions/episode10.json
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--- /dev/null
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+{
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diff --git a/place_dual_shoes/.accepted_bundles/episode10/phase_trace/episode10.json b/place_dual_shoes/.accepted_bundles/episode10/phase_trace/episode10.json
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--- /dev/null
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+        "right_shoe"
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+        "right_prepare"
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+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2256,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 10,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
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+  "schedule_plan": null,
+  "schedule_search": null,
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+  "schema_version": 5,
+  "seed": 15,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode10/validation/episode10.json b/place_dual_shoes/.accepted_bundles/episode10/validation/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c357965654936d8b7053d74346107cb3366b1f4
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode10/validation/episode10.json
@@ -0,0 +1,1598 @@
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+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
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diff --git a/place_dual_shoes/.accepted_bundles/episode11/validation/episode11.json b/place_dual_shoes/.accepted_bundles/episode11/validation/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06d83e38b58c019de2dba6a14cc05bdb34d0ee4
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode11/validation/episode11.json
@@ -0,0 +1,1442 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1950677303793435,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17478,
+  "training_actions_executed": 209
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode11/video/episode11.mp4 b/place_dual_shoes/.accepted_bundles/episode11/video/episode11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8142a5e0223477162cc4e52fd6e035c4d4c8d224
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode11/video/episode11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bf40d02016df0e0bcea453372baf1c831a908756d23007bc6db4ef2c4c028a
+size 137855
diff --git a/place_dual_shoes/.accepted_bundles/episode12/data/episode12.hdf5 b/place_dual_shoes/.accepted_bundles/episode12/data/episode12.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ea43d21952b8ce7d0ae10698e47d5b45fa12e513
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode12/data/episode12.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520b4e73ee59eb1564fee0cc1245faf62c386ebd34995636f46fc76ac8fa10aa
+size 40809545
diff --git a/place_dual_shoes/.accepted_bundles/episode12/instructions/episode12.json b/place_dual_shoes/.accepted_bundles/episode12/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..30851747a5a82dd71e0559740fbbde530600455e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode12/instructions/episode12.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the medium-sized brown shoe in the smooth bright orange box, tips oriented left."
+  ],
+  "unseen": [
+    "Pick up two the smooth plastic shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode12/phase_trace/episode12.json b/place_dual_shoes/.accepted_bundles/episode12/phase_trace/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24dfaa05a0c14e448715d239bc0052368e61f01
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode12/phase_trace/episode12.json
@@ -0,0 +1,1839 @@
+{
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+        "left_shoe",
+        "right_shoe"
+      ],
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+        "left_place",
+        "right_prepare"
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+        "left_lift",
+        "right_lift"
+      ],
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+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
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+    },
+    {
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+      "end_physics_step": 3000,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2067,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 12,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.27841004729270935,
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+      0.24598775804042816,
+      -0.6594796776771545,
+      -0.6650921702384949
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+      0.654771625995636,
+      0.6483535170555115,
+      -0.27356112003326416,
+      -0.2758196294307709
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 7
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 19,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
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+}
diff --git a/place_dual_shoes/.accepted_bundles/episode12/validation/episode12.json b/place_dual_shoes/.accepted_bundles/episode12/validation/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cd84f3c34fb327c757a2745f344e878f3f5a92
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode12/validation/episode12.json
@@ -0,0 +1,1520 @@
+{
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+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18881,
+  "training_actions_executed": 222
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode12/video/episode12.mp4 b/place_dual_shoes/.accepted_bundles/episode12/video/episode12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77156b3ad2c4eb746de42d767379f3d60a68e469
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode12/video/episode12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457b47aade6d1df022bdfc03ed10d6fdf9c137567464dac7f9840c211ab93ea1
+size 159673
diff --git a/place_dual_shoes/.accepted_bundles/episode13/data/episode13.hdf5 b/place_dual_shoes/.accepted_bundles/episode13/data/episode13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a3c00fcc286ffe51e65ea1e537cf5e631b8fde13
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode13/data/episode13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26baf0a631d8f0a41a2d04843f0201d6aa87a7d0e832366aa566a3116e5106a2
+size 44019109
diff --git a/place_dual_shoes/.accepted_bundles/episode13/instructions/episode13.json b/place_dual_shoes/.accepted_bundles/episode13/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0264ea824cad8fd27108f150b45af2cea3f0d3
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode13/instructions/episode13.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use arms to lift two the footwear with padded heel, tips left, and set in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Put a pair of the running shoe with laces in the medium cardboard shoe-box, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode13/phase_trace/episode13.json b/place_dual_shoes/.accepted_bundles/episode13/phase_trace/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..367cc0042519aa51f02ea21cafac84923c92e58e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode13/phase_trace/episode13.json
@@ -0,0 +1,1893 @@
+{
+  "base_config": "parallelvla_clean_pcd",
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+    "fovy_deg": {
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+      "right": 90.0
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+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
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+      "right": 0
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+      "right": 139.10143880208335
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+    "first_risk_step": null,
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+        "minimum_capsule_distance_m": 0.36915408749857126
+      },
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+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.25297452540455984
+      }
+    },
+    "physics_steps_checked": 4047
+  },
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+  "motion_cross_check": {
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+        154
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+  },
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+        "left",
+        "right"
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+      "end_physics_step": 1012,
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+        "left_shoe",
+        "right_shoe"
+      ],
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+        "left_arm",
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+        "left_shoe",
+        "right_shoe"
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+        "left_lift",
+        "right_lift"
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+        "right_grasp"
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+        "right_arm",
+        "left_shoe",
+        "right_shoe"
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+        "right_shoe"
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+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+    },
+    {
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+      "end_physics_step": 3147,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 153,
+      "start_physics_step": 2054,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 13,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 232,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24484595656394958,
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+      0.13652242720127106
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+      0.6995053291320801,
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+      0.5,
+      0.5,
+      -0.5,
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 32,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode13/validation/episode13.json b/place_dual_shoes/.accepted_bundles/episode13/validation/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..a303b635f0afc82b5cbb5107ee72266abf87483a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode13/validation/episode13.json
@@ -0,0 +1,1574 @@
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+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20476,
+  "training_actions_executed": 231
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode13/video/episode13.mp4 b/place_dual_shoes/.accepted_bundles/episode13/video/episode13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfc6303928828de6f6974f7850083cff793e5e13
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode13/video/episode13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48da2485e8acee8edf5fba695ff71142aa96710314e95069cd8747007173fe0d
+size 164467
diff --git a/place_dual_shoes/.accepted_bundles/episode14/data/episode14.hdf5 b/place_dual_shoes/.accepted_bundles/episode14/data/episode14.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4f429cfe11f61fa45ff0583be96f70fef37b6185
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode14/data/episode14.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164e130d880271e8e7e342c056c8b5d188a7808ef7cd487fd675ca96bca7c0d6
+size 36666433
diff --git a/place_dual_shoes/.accepted_bundles/episode14/instructions/episode14.json b/place_dual_shoes/.accepted_bundles/episode14/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dbe604198c36e4bbaa6fe994f0ffa090b9d2bb
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode14/instructions/episode14.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab both the synthetic leather shoe and put them into the smooth bright orange box, tips left."
+  ],
+  "unseen": [
+    "Place both items matching the medium adult shoe into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode14/phase_trace/episode14.json b/place_dual_shoes/.accepted_bundles/episode14/phase_trace/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..45621434720a00d51babac046eee9216ac288ec7
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode14/phase_trace/episode14.json
@@ -0,0 +1,1743 @@
+{
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+        "right_prepare"
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+        "right_lift"
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+        "left_arm",
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+      "held_objects": [
+        "right_shoe"
+      ],
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 144,
+      "start_physics_step": 1931,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 14,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 214,
+  "scene_identity": {
+    "left_shoe_pose": [
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+      -0.30284547805786133,
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+      0.6915892958641052,
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+      0.5,
+      0.5,
+      -0.5,
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+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 27,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
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+  },
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diff --git a/place_dual_shoes/.accepted_bundles/episode14/validation/episode14.json b/place_dual_shoes/.accepted_bundles/episode14/validation/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa89e0b7f741d5293966058f51d682ecc3387ac0
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode14/validation/episode14.json
@@ -0,0 +1,1424 @@
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+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1262,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1018,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2119,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1262,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 227,
+      "end_physics_step": 3058,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2119,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 15,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 227,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2536713480949402,
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+      -0.48593607544898987,
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 33,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode15/validation/episode15.json b/place_dual_shoes/.accepted_bundles/episode15/validation/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb475eeb8a1476c9d4fcd6788078bd4a681a0849
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode15/validation/episode15.json
@@ -0,0 +1,1502 @@
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--- /dev/null
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diff --git a/place_dual_shoes/.accepted_bundles/episode16/data/episode16.hdf5 b/place_dual_shoes/.accepted_bundles/episode16/data/episode16.hdf5
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diff --git a/place_dual_shoes/.accepted_bundles/episode16/instructions/episode16.json b/place_dual_shoes/.accepted_bundles/episode16/instructions/episode16.json
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+{
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diff --git a/place_dual_shoes/.accepted_bundles/episode16/phase_trace/episode16.json b/place_dual_shoes/.accepted_bundles/episode16/phase_trace/episode16.json
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+{
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+        "left_lift",
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+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
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+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2262,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 16,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
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+  "source_commits": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode16/validation/episode16.json b/place_dual_shoes/.accepted_bundles/episode16/validation/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50dcb3ce04b61722247eb455080db9fe3008694
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode16/validation/episode16.json
@@ -0,0 +1,1556 @@
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+  "training_action_replay_success": true,
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+  "training_actions_executed": 228
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode16/video/episode16.mp4 b/place_dual_shoes/.accepted_bundles/episode16/video/episode16.mp4
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index 0000000000000000000000000000000000000000..5986f828ec62bb6fbdcc50905a0540e667ba9f09
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode16/video/episode16.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/place_dual_shoes/.accepted_bundles/episode17/data/episode17.hdf5 b/place_dual_shoes/.accepted_bundles/episode17/data/episode17.hdf5
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/place_dual_shoes/.accepted_bundles/episode17/instructions/episode17.json b/place_dual_shoes/.accepted_bundles/episode17/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e606dce09da8576bb915b4da07de58c8a5420cfb
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode17/instructions/episode17.json
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+{
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+    "Lay down two the single red shoe in the Nike-branded orange shoe-box, tips oriented left."
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+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode17/phase_trace/episode17.json b/place_dual_shoes/.accepted_bundles/episode17/phase_trace/episode17.json
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--- /dev/null
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+{
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+        "right_lift"
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+      "held_objects": [
+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2009,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 17,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 221,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode17/validation/episode17.json b/place_dual_shoes/.accepted_bundles/episode17/validation/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6210ce8827df19b2bf638c610d51d558019689
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode17/validation/episode17.json
@@ -0,0 +1,1466 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.17403246026340188,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17971,
+  "training_actions_executed": 213
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode17/video/episode17.mp4 b/place_dual_shoes/.accepted_bundles/episode17/video/episode17.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..646f345b3fe089836ec35c77617a003f0fcb8494
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode17/video/episode17.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6cbbe3704845eb13dbd5ffae482558915436ab9655a3a3143f8a78dace254a0
+size 151291
diff --git a/place_dual_shoes/.accepted_bundles/episode18/data/episode18.hdf5 b/place_dual_shoes/.accepted_bundles/episode18/data/episode18.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a04fee0e604053df74bcf48e122db61a44035d7e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode18/data/episode18.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d8ab2374b49d0e6ab88b4a07f1b8ab86a531bb11c2a8dce92e03bf15bcbb77
+size 38507862
diff --git a/place_dual_shoes/.accepted_bundles/episode18/instructions/episode18.json b/place_dual_shoes/.accepted_bundles/episode18/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1473ea833788c9a68ded37f64e30798acdd80443
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode18/instructions/episode18.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grasp two the synthetic leather white shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh."
+  ],
+  "unseen": [
+    "Place both items matching the shoe with rubber bottom into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode18/phase_trace/episode18.json b/place_dual_shoes/.accepted_bundles/episode18/phase_trace/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b9fd9d878a1ecac026338c6def9e558311dc43
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode18/phase_trace/episode18.json
@@ -0,0 +1,1809 @@
+{
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+        "right_lift"
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+        "left_arm",
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+      "held_objects": [
+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
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+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 1915,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 18,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 223,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.21571184694766998,
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 9
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 40,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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diff --git a/place_dual_shoes/.accepted_bundles/episode18/validation/episode18.json b/place_dual_shoes/.accepted_bundles/episode18/validation/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf1d1ca663a5b303572f379f8fb2813f313385e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode18/validation/episode18.json
@@ -0,0 +1,1490 @@
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diff --git a/place_dual_shoes/.accepted_bundles/episode19/phase_trace/episode19.json b/place_dual_shoes/.accepted_bundles/episode19/phase_trace/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87fe67364df06a1dd2df299fb354b70f6ced74f
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode19/phase_trace/episode19.json
@@ -0,0 +1,1887 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 19,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 235,
+    "head_unique_frame_ratio": 0.9617021276595744,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.1626123195869233e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 101.71803819444445,
+    "parallel_head_unique_frame_ratio": 0.9617021276595744,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 126.25380642361111,
+      "right": 101.71803819444445
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1644850928474725,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16575924579796641
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.37863824724009987
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3920958493416295
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1644850928474725
+      }
+    },
+    "physics_steps_checked": 4091
+  },
+  "episode_index": 19,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 66,
+      "first_motion_frame": [
+        156,
+        156
+      ],
+      "frames": 80,
+      "left_motion_frames": 42,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6363636363636364,
+      "overlap_ratio_all": 0.525,
+      "right_motion_frames": 66
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8055555555555556,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 53,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 65,
+      "left_motion_frames": 53,
+      "overlap_frames": 29,
+      "overlap_ratio_active": 0.5471698113207547,
+      "overlap_ratio_all": 0.4461538461538462,
+      "right_motion_frames": 29
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 987,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1226,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 987,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2096,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1226,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 235,
+      "end_physics_step": 3191,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2096,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 19,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 235,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.269415020942688,
+      -0.01393143180757761,
+      0.6399676203727722,
+      0.6682264804840088,
+      0.6671373248100281,
+      0.2326098084449768,
+      0.2330106496810913
+    ],
+    "right_shoe_pose": [
+      0.24065615236759186,
+      -0.08567999303340912,
+      0.6399675607681274,
+      0.3673061430454254,
+      0.3667270839214325,
+      0.6038927435874939,
+      0.6049057245254517
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 37,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
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+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
+    "grippers": [
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+      1.0
+    ],
+    "left_shoe_pose": [
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+      0.47561368346214294,
+      -0.515047550201416,
+      -0.48100993037223816
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+    "right_shoe_pose": [
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+      -0.5441087484359741,
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+      0.44388025999069214
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+  },
+  "timing_summary": {
+    "active_left_frames": 169,
+    "active_right_frames": 169,
+    "active_union_frames": 193,
+    "avoidable_idle_seconds": 0.0,
+    "frames": 235,
+    "overlap_frames": 145,
+    "overlap_ratio_active": 0.7512953367875648,
+    "overlap_ratio_all": 0.6170212765957447,
+    "overlap_seconds": 4.833333333333333,
+    "seconds": 7.833333333333333,
+    "true_dependency_wait_seconds": 0.0
+  },
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diff --git a/place_dual_shoes/.accepted_bundles/episode19/validation/episode19.json b/place_dual_shoes/.accepted_bundles/episode19/validation/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..9febe09cfc4f25ba645caefe2bbc91e59baf64f5
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode19/validation/episode19.json
@@ -0,0 +1,1568 @@
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+    "frames": 244,
+    "head_unique_frame_ratio": 0.9590163934426229,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.024330751446371e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 190.1557269965278,
+    "parallel_head_unique_frame_ratio": 0.9590163934426229,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 190.1557269965278,
+      "right": 205.6353559027778
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1603728742000041,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1603728742000041
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.34028261478342947
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3503602492852935
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16039312004046338
+      }
+    },
+    "physics_steps_checked": 4203
+  },
+  "episode_index": 2,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        176,
+        176
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7808219178082192,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 69,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 83,
+      "left_motion_frames": 69,
+      "overlap_frames": 45,
+      "overlap_ratio_active": 0.6521739130434783,
+      "overlap_ratio_all": 0.5421686746987951,
+      "right_motion_frames": 45
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 979,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1222,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 979,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 175,
+      "end_physics_step": 2364,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1222,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 244,
+      "end_physics_step": 3303,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 175,
+      "start_physics_step": 2364,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 2,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 244,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2427528351545334,
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+      0.39778509736061096,
+      0.3903263807296753,
+      0.5810306072235107,
+      0.5931405425071716
+    ],
+    "right_shoe_pose": [
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+      -0.003391638398170471,
+      0.6397051811218262,
+      0.08902809023857117,
+      0.08796830475330353,
+      -0.6946829557418823,
+      -0.708344042301178
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 6
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 4,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
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+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode2/validation/episode2.json b/place_dual_shoes/.accepted_bundles/episode2/validation/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e2691af7ab12a7fa6238ed1b48786582ebf307
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode2/validation/episode2.json
@@ -0,0 +1,1604 @@
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+size 37852224
diff --git a/place_dual_shoes/.accepted_bundles/episode20/instructions/episode20.json b/place_dual_shoes/.accepted_bundles/episode20/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c85ed60320e232754bda182373ef87e4505081
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode20/instructions/episode20.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use arms to lift two the synthetic leather shoe, tips left, and set in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode20/phase_trace/episode20.json b/place_dual_shoes/.accepted_bundles/episode20/phase_trace/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..7974362ba3b04dd1a45a83941ba7c15cabcfe5da
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode20/phase_trace/episode20.json
@@ -0,0 +1,1791 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 20,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 222,
+    "head_unique_frame_ratio": 0.954954954954955,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.6930087616313685e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 204.5959353298611,
+    "parallel_head_unique_frame_ratio": 0.954954954954955,
+    "preset": {
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+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
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+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
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+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
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+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 208.2466861979167,
+      "right": 204.5959353298611
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.181366481673613,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.181366481673613
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3358389066437861
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.34829825037555345
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18138117784051833
+      }
+    },
+    "physics_steps_checked": 3868
+  },
+  "episode_index": 20,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        153,
+        153
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
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+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 50,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 62,
+      "left_motion_frames": 50,
+      "overlap_frames": 26,
+      "overlap_ratio_active": 0.52,
+      "overlap_ratio_all": 0.41935483870967744,
+      "right_motion_frames": 26
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 970,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1199,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 970,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 152,
+      "end_physics_step": 2025,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1199,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 222,
+      "end_physics_step": 2968,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 152,
+      "start_physics_step": 2025,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 20,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 222,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2358526885509491,
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+      0.6400244832038879,
+      0.2850022315979004,
+      0.2777208089828491,
+      -0.6402658820152283,
+      -0.6570422053337097
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+      0.08946943283081055,
+      0.08740810304880142,
+      -0.6933398246765137,
+      -0.7096724510192871
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+    "shoe_box_pose": [
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+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 1
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 38,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
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+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
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+  },
+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode20/validation/episode20.json b/place_dual_shoes/.accepted_bundles/episode20/validation/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f65709f4080e0f51b67ce2be503898d3b07e48
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode20/validation/episode20.json
@@ -0,0 +1,1472 @@
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+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 972,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1203,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 972,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 164,
+      "end_physics_step": 2204,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1203,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 233,
+      "end_physics_step": 3137,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 164,
+      "start_physics_step": 2204,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 21,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 233,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20712962746620178,
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+      0.7062045931816101,
+      0.7073676586151123
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+      0.5919093489646912,
+      0.5909490585327148,
+      0.3872453570365906,
+      0.38789618015289307
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 39,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode21/validation/episode21.json b/place_dual_shoes/.accepted_bundles/episode21/validation/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc52d106c3951ee746ae1c9125a35d016d7806b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode21/validation/episode21.json
@@ -0,0 +1,1532 @@
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+      "end_physics_step": 2897,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 147,
+      "start_physics_step": 1963,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 22,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
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+      -0.5,
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+  "schedule_plan": null,
+  "schedule_search": null,
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+  "schema_version": 5,
+  "seed": 41,
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+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode22/validation/episode22.json b/place_dual_shoes/.accepted_bundles/episode22/validation/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ac8fd31c8a85c20125f6539b2fe609f374a804
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode22/validation/episode22.json
@@ -0,0 +1,1442 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1500731198486641,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17533,
+  "training_actions_executed": 209
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode22/video/episode22.mp4 b/place_dual_shoes/.accepted_bundles/episode22/video/episode22.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..623872a4254092bb2375b463ddae7305d36b718a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode22/video/episode22.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc70f0e5a24a578105661256053ea0c8ea6f7dda3c5f39c0bb4ac715871c45b
+size 149192
diff --git a/place_dual_shoes/.accepted_bundles/episode23/data/episode23.hdf5 b/place_dual_shoes/.accepted_bundles/episode23/data/episode23.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3329143937ff8b3db083541bfc0357ac82b1714e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode23/data/episode23.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e116acc8972b324bd5f326a74b6e16a3cd1a95ef93a8d75c0236935f5558e2
+size 47477976
diff --git a/place_dual_shoes/.accepted_bundles/episode23/instructions/episode23.json b/place_dual_shoes/.accepted_bundles/episode23/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6e4f34c182774941951bfb48c9556b9a051d0c
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode23/instructions/episode23.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the shoe with smooth top and grippy sole in the bright orange shoe-box, tips oriented left."
+  ],
+  "unseen": [
+    "Put a pair of the black shoe with white midsole in the medium cardboard shoe-box, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode23/phase_trace/episode23.json b/place_dual_shoes/.accepted_bundles/episode23/phase_trace/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..42be409e115b7e6a9080fea9f66cd0e600c2f788
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode23/phase_trace/episode23.json
@@ -0,0 +1,2019 @@
+{
+  "base_config": "parallelvla_clean_pcd",
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+        "left_shoe",
+        "right_shoe"
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+      "name": "left_lift+right_lift",
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+        "left_lift",
+        "right_lift"
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+        "right_grasp"
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+        "right_shoe"
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+      "name": "left_place+right_prepare",
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+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
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+    },
+    {
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+      "end_physics_step": 3563,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 180,
+      "start_physics_step": 2447,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 23,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 262,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23486806452274323,
+      0.03129241243004799,
+      0.639951765537262,
+      0.47586366534233093,
+      0.4746221899986267,
+      0.5234794616699219,
+      0.5236956477165222
+    ],
+    "right_shoe_pose": [
+      0.285737007856369,
+      0.03953596577048302,
+      0.6399531364440918,
+      0.6996176838874817,
+      0.6988335251808167,
+      -0.10484109818935394,
+      -0.10571323335170746
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+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 0
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 48,
+  "seed_policy": "independent",
+  "source_commits": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode23/validation/episode23.json b/place_dual_shoes/.accepted_bundles/episode23/validation/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8fd61e4975a42d994ac8cc0ff96d5f8cef1c45
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode23/validation/episode23.json
@@ -0,0 +1,1700 @@
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+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 244,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode24/validation/episode24.json b/place_dual_shoes/.accepted_bundles/episode24/validation/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc82a1c11322ea81934c5f65086ebf7c77d6baf
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode24/validation/episode24.json
@@ -0,0 +1,1628 @@
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+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 75,
+      "start_physics_step": 1017,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 149,
+      "end_physics_step": 1991,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 94,
+      "start_physics_step": 1260,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 218,
+      "end_physics_step": 2924,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 149,
+      "start_physics_step": 1991,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 25,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 218,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2075345665216446,
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+      -0.5196657180786133
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+      0.694496750831604
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 5
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 45,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode25/validation/episode25.json b/place_dual_shoes/.accepted_bundles/episode25/validation/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d72fb3e8d3a79244087b064c69a3d0d0efd99c4
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode25/validation/episode25.json
@@ -0,0 +1,1448 @@
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+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17394,
+  "training_actions_executed": 210
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode25/video/episode25.mp4 b/place_dual_shoes/.accepted_bundles/episode25/video/episode25.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b5742e9cf5640d22b991b1ff4468d707b307ebc
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode25/video/episode25.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b282bd95bcd6c1eadf952bd301807826f9f5ad69e551d32d9743d6362993f9
+size 138549
diff --git a/place_dual_shoes/.accepted_bundles/episode26/data/episode26.hdf5 b/place_dual_shoes/.accepted_bundles/episode26/data/episode26.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab06a542d64681dd7ca9a245498a0b492bfadb83
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode26/data/episode26.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24977fa242c080b5d4a3350dcbeb1a6450ade3d9080fcdb8f2be18ddfff993df
+size 41324863
diff --git a/place_dual_shoes/.accepted_bundles/episode26/instructions/episode26.json b/place_dual_shoes/.accepted_bundles/episode26/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b1fd2e09d4dfea86927e8e0078c7ec58a92816
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode26/instructions/episode26.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the lace-up canvas shoe into the bright orange shoe-box, ensure tips point left."
+  ],
+  "unseen": [
+    "Lift two the walking shoe with grip sole, tips pointing left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode26/phase_trace/episode26.json b/place_dual_shoes/.accepted_bundles/episode26/phase_trace/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a00ed479149ae65b91f13b22431194cd7d2b9c
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode26/phase_trace/episode26.json
@@ -0,0 +1,1821 @@
+{
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+      "name": "left_place+right_prepare",
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+        "left_place",
+        "right_prepare"
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+        "left_lift",
+        "right_lift"
+      ],
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+        "left_arm",
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+        "left_shoe",
+        "right_shoe"
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+    },
+    {
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+      "held_objects": [
+        "right_shoe"
+      ],
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2103,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 26,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 227,
+  "scene_identity": {
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+  "seed": 46,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode26/validation/episode26.json b/place_dual_shoes/.accepted_bundles/episode26/validation/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..605fc052a1d8b34cdc89c1fc6778dfff0676d93b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode26/validation/episode26.json
@@ -0,0 +1,1502 @@
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+      -0.5009043216705322,
+      -0.5185882449150085
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21063126969999452,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19097,
+  "training_actions_executed": 219
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode26/video/episode26.mp4 b/place_dual_shoes/.accepted_bundles/episode26/video/episode26.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1290841a95bcd097e3820b4a7cc354aae9be52d0
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode26/video/episode26.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe530ca3ccfb15c94f610b0f90b00190af707d1dd31d13a4b4a16b4b3668d3e
+size 153001
diff --git a/place_dual_shoes/.accepted_bundles/episode27/data/episode27.hdf5 b/place_dual_shoes/.accepted_bundles/episode27/data/episode27.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f1a9b6421efb393a8d5212af4f12cdb371e96bcb
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode27/data/episode27.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17bff8568dcf8c56db9ad790696b6d1dc10030c0f095b67fcdaae567522a1c9c
+size 45084253
diff --git a/place_dual_shoes/.accepted_bundles/episode27/instructions/episode27.json b/place_dual_shoes/.accepted_bundles/episode27/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c16f5818ab9bc71138532c1310e51922d95e598
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode27/instructions/episode27.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Slide both the sports shoe green with beige sole into the smooth orange box for shoes with tips pointing left."
+  ],
+  "unseen": [
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode27/phase_trace/episode27.json b/place_dual_shoes/.accepted_bundles/episode27/phase_trace/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..e10978c551d2f928555e883cdfed4689f3a79475
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode27/phase_trace/episode27.json
@@ -0,0 +1,1947 @@
+{
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+      ],
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+        "right_prepare"
+      ],
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+        "right_lift"
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+        "left_arm",
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+      "held_objects": [
+        "right_shoe"
+      ],
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 170,
+      "start_physics_step": 2301,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 27,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 241,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.26004210114479065,
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+      0.47339576482772827
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+      0.16909411549568176,
+      0.6861206293106079,
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+      0.5,
+      0.5,
+      -0.5,
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+    "shoe_id": 4
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 47,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
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diff --git a/place_dual_shoes/.accepted_bundles/episode27/validation/episode27.json b/place_dual_shoes/.accepted_bundles/episode27/validation/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb03543be96ba2dbe5cb7c1ad9d7848c2bc9d2d
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode27/validation/episode27.json
@@ -0,0 +1,1628 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1613078082344681,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 22114,
+  "training_actions_executed": 240
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode27/video/episode27.mp4 b/place_dual_shoes/.accepted_bundles/episode27/video/episode27.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30f86c6524c0c284e660fdcea27c0124b11390a5
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode27/video/episode27.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff1a136eed5e39c1a171c1a010936cf1c9fcbd1752a51b9684cd3584dc62036
+size 187074
diff --git a/place_dual_shoes/.accepted_bundles/episode28/data/episode28.hdf5 b/place_dual_shoes/.accepted_bundles/episode28/data/episode28.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6ab710bcc10fa70346ab7a4701cc411b01a333b2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode28/data/episode28.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac04bf5680ffc16684b2fb1eb3b58c22128b19996f6c46e9225f6bd851a86be
+size 37642220
diff --git a/place_dual_shoes/.accepted_bundles/episode28/instructions/episode28.json b/place_dual_shoes/.accepted_bundles/episode28/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a08c721ee569deaa57408a29ca101a01d31bbd
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode28/instructions/episode28.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Drop a pair of the white shoe into the orange cardboard shoe-box, tips align left."
+  ],
+  "unseen": [
+    "Grab two the shoe with ribbed sole, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode28/phase_trace/episode28.json b/place_dual_shoes/.accepted_bundles/episode28/phase_trace/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02130dae81f51783332176b3509e8a39a3e9c83
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode28/phase_trace/episode28.json
@@ -0,0 +1,1749 @@
+{
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+        "right_shoe"
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+        "left_place",
+        "right_prepare"
+      ],
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+        "left_lift",
+        "right_lift"
+      ],
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+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "true_dependency_wait_arms": [],
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+    },
+    {
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+      "end_physics_step": 2895,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 148,
+      "start_physics_step": 1973,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 28,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20855124294757843,
+      0.0034514274448156357,
+      0.6381756663322449,
+      0.6218843460083008,
+      0.5716469287872314,
+      -0.36061596870422363,
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diff --git a/place_dual_shoes/.accepted_bundles/episode28/validation/episode28.json b/place_dual_shoes/.accepted_bundles/episode28/validation/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3d876c1f671550b326cb590292e95e92208c96
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode28/validation/episode28.json
@@ -0,0 +1,1430 @@
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+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 177.4138064236111,
+      "right": 184.65176649305556
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.18738822693216484,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18738822693216484
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3515994828439842
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.360827545192971
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18740298785610238
+      }
+    },
+    "physics_steps_checked": 4132
+  },
+  "episode_index": 29,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        171,
+        171
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 63,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 78,
+      "left_motion_frames": 63,
+      "overlap_frames": 39,
+      "overlap_ratio_active": 0.6190476190476191,
+      "overlap_ratio_all": 0.5,
+      "right_motion_frames": 39
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1004,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1239,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1004,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 170,
+      "end_physics_step": 2296,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1239,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 239,
+      "end_physics_step": 3232,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 170,
+      "start_physics_step": 2296,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 29,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 239,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.22350314259529114,
+      -0.03734634071588516,
+      0.6399517059326172,
+      0.16360518336296082,
+      0.16263844072818756,
+      0.687627911567688,
+      0.6884405612945557
+    ],
+    "right_shoe_pose": [
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+      0.028836235404014587,
+      0.6399518251419067,
+      0.6031415462493896,
+      0.6026610136032104,
+      -0.36888033151626587,
+      -0.37006431818008423
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 0
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 52,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
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+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode29/validation/episode29.json b/place_dual_shoes/.accepted_bundles/episode29/validation/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..738807ce85e3bc01dcc190af6a94431b2f94c118
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode29/validation/episode29.json
@@ -0,0 +1,1562 @@
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+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 149.0653884548611,
+      "right": 152.06930338541667
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2101040496933677,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21055298967600639
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.38339671529964386
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3997057420448565
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.23544846735714617
+      }
+    },
+    "physics_steps_checked": 3791
+  },
+  "episode_index": 3,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        147,
+        147
+      ],
+      "frames": 70,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5789473684210527,
+      "overlap_ratio_all": 0.4714285714285714,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 0.9411764705882353,
+      "overlap_ratio_all": 0.8421052631578947,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 42,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 53,
+      "left_motion_frames": 42,
+      "overlap_frames": 18,
+      "overlap_ratio_active": 0.42857142857142855,
+      "overlap_ratio_all": 0.33962264150943394,
+      "right_motion_frames": 18
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1001,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1242,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1001,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 146,
+      "end_physics_step": 1942,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1242,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2891,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 146,
+      "start_physics_step": 1942,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 3,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23051846027374268,
+      -0.07819453626871109,
+      0.6399530172348022,
+      0.6343202590942383,
+      0.6336969137191772,
+      -0.31252962350845337,
+      -0.31367412209510803
+    ],
+    "right_shoe_pose": [
+      0.2913297414779663,
+      0.014873229898512363,
+      0.6399518251419067,
+      0.697985053062439,
+      0.6968545317649841,
+      0.11694367229938507,
+      0.11634006351232529
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 0
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 3,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+  "task_name": "place_dual_shoes",
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diff --git a/place_dual_shoes/.accepted_bundles/episode3/validation/episode3.json b/place_dual_shoes/.accepted_bundles/episode3/validation/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de39c6669d48971e963aab1644267aca103eb2d
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode3/validation/episode3.json
@@ -0,0 +1,1424 @@
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+  "training_actions_executed": 206
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diff --git a/place_dual_shoes/.accepted_bundles/episode3/video/episode3.mp4 b/place_dual_shoes/.accepted_bundles/episode3/video/episode3.mp4
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index 0000000000000000000000000000000000000000..45b43c4fc26bb40e2cab9df4de2efb1551a9ab34
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode3/video/episode3.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:751f275d11355fd246f9052e4fe957029a3ac09f011486cf55a28e442c1636b7
+size 153073
diff --git a/place_dual_shoes/.accepted_bundles/episode30/data/episode30.hdf5 b/place_dual_shoes/.accepted_bundles/episode30/data/episode30.hdf5
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/place_dual_shoes/.accepted_bundles/episode30/instructions/episode30.json b/place_dual_shoes/.accepted_bundles/episode30/instructions/episode30.json
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index 0000000000000000000000000000000000000000..0586885480ed046cad6515630170ab6a92dba73f
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode30/instructions/episode30.json
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+{
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+    "Hold two the white shoe, tips left, and place in the orange Nike shoe-box with logo."
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+}
diff --git a/place_dual_shoes/.accepted_bundles/episode30/phase_trace/episode30.json b/place_dual_shoes/.accepted_bundles/episode30/phase_trace/episode30.json
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--- /dev/null
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+{
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+        "left_place",
+        "right_prepare"
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+        "left_lift",
+        "right_lift"
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+        "left_arm",
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+        "left_shoe",
+        "right_shoe"
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+      "end_physics_step": 2929,
+      "held_objects": [
+        "right_shoe"
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+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 1955,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 30,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 218,
+  "scene_identity": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode30/validation/episode30.json b/place_dual_shoes/.accepted_bundles/episode30/validation/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..98e66522fde91938da1ab42e921aaa08d29ff70e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode30/validation/episode30.json
@@ -0,0 +1,1454 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.20945103278860033,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17604,
+  "training_actions_executed": 211
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode30/video/episode30.mp4 b/place_dual_shoes/.accepted_bundles/episode30/video/episode30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da9ffee37beb6a1db00cfa1df2149b692d523bdc
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode30/video/episode30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f59a2dc4848cfac03a9556421b26569f3149249ce340c75e36b174367b8ed9
+size 129379
diff --git a/place_dual_shoes/.accepted_bundles/episode31/data/episode31.hdf5 b/place_dual_shoes/.accepted_bundles/episode31/data/episode31.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..42c2fbab233b39b292f7418ba97427aaa6460c08
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode31/data/episode31.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c177d0ef58971544b729ff854a5f834fd3647e0ac49c18c00b5c650b71aa10f6
+size 41017217
diff --git a/place_dual_shoes/.accepted_bundles/episode31/instructions/episode31.json b/place_dual_shoes/.accepted_bundles/episode31/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..670120f75296a58aca190fa11c9f93e316573cac
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode31/instructions/episode31.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the white sneaker with red accents and set them in the orange Nike shoe-box with logo, tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the walking shoe with grip sole, place left tips in the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode31/phase_trace/episode31.json b/place_dual_shoes/.accepted_bundles/episode31/phase_trace/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01d7743479d5ccf4c0319692bd347db31cbbb5f
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode31/phase_trace/episode31.json
@@ -0,0 +1,1797 @@
+{
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+        "right_prepare"
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+        "left_lift",
+        "right_lift"
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+        "left_arm",
+        "right_arm",
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+    {
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+      "end_physics_step": 3001,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2078,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 31,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 223,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2608519494533539,
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+      0.6524247527122498,
+      0.25139233469963074,
+      0.2554057538509369
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+      0.58803391456604,
+      0.5764926075935364,
+      -0.396346777677536,
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 54,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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diff --git a/place_dual_shoes/.accepted_bundles/episode31/validation/episode31.json b/place_dual_shoes/.accepted_bundles/episode31/validation/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa73f566379b5465cc32220c42e1681fc0183aa
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode31/validation/episode31.json
@@ -0,0 +1,1478 @@
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+    "minimum_wrist_median_luminance": 189.8821440972222,
+    "parallel_head_unique_frame_ratio": 0.960352422907489,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 189.8821440972222,
+      "right": 200.48937934027776
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.19468460290360518,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19468460290360518
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41641693039595906
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4380840109654622
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21282476719396964
+      }
+    },
+    "physics_steps_checked": 3967
+  },
+  "episode_index": 32,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        156,
+        156
+      ],
+      "frames": 72,
+      "left_motion_frames": 35,
+      "overlap_frames": 35,
+      "overlap_ratio_active": 0.5932203389830508,
+      "overlap_ratio_all": 0.4861111111111111,
+      "right_motion_frames": 59
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 51,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 63,
+      "left_motion_frames": 51,
+      "overlap_frames": 27,
+      "overlap_ratio_active": 0.5294117647058824,
+      "overlap_ratio_all": 0.42857142857142855,
+      "right_motion_frames": 27
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1236,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2086,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1236,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 227,
+      "end_physics_step": 3067,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2086,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 32,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 227,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.28683221340179443,
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+      0.6392952799797058,
+      0.7144493460655212,
+      0.6996586918830872,
+      0.003675105283036828,
+      0.005147078074514866
+    ],
+    "right_shoe_pose": [
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+      -0.08799904584884644,
+      0.6381703019142151,
+      0.5863485336303711,
+      0.5390374064445496,
+      -0.4076134264469147,
+      -0.446637898683548
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 3
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 60,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
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+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode32/validation/episode32.json b/place_dual_shoes/.accepted_bundles/episode32/validation/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccf4795c95c63c5911b3f254f6151d6df676ffe
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode32/validation/episode32.json
@@ -0,0 +1,1496 @@
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+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1209,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 988,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 165,
+      "end_physics_step": 2243,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1209,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 236,
+      "end_physics_step": 3199,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 165,
+      "start_physics_step": 2243,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 33,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24773772060871124,
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+      0.700581431388855,
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+      0.35497793555259705,
+      0.6081761717796326,
+      0.6126482486724854
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 1
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 64,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode33/validation/episode33.json b/place_dual_shoes/.accepted_bundles/episode33/validation/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..b087a9203d0771c6d6644ff32f5bab34ffdb977d
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode33/validation/episode33.json
@@ -0,0 +1,1550 @@
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+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1203,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3210,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 167,
+      "start_physics_step": 2253,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 34,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
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+      -0.22974379360675812,
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+      0.5450323224067688
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+      -0.6255465745925903,
+      -0.6286640763282776
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 2
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 58,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode34/validation/episode34.json b/place_dual_shoes/.accepted_bundles/episode34/validation/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..956ac875df90f1669b4be32803e4ee2d7fa00cbf
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode34/validation/episode34.json
@@ -0,0 +1,1586 @@
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+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2111,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1213,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 226,
+      "end_physics_step": 3046,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2111,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 35,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 226,
+  "scene_identity": {
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+      -0.5,
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 59,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode35/validation/episode35.json b/place_dual_shoes/.accepted_bundles/episode35/validation/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c06f7ccc37eaf7fd6fc90cc237736593a4b2820
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode35/validation/episode35.json
@@ -0,0 +1,1496 @@
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+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18916,
+  "training_actions_executed": 218
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode35/video/episode35.mp4 b/place_dual_shoes/.accepted_bundles/episode35/video/episode35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77476068c4d49c4659cca90196c9a5959f816d79
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode35/video/episode35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30901e137ac73843ad2ff25bcb6a587b06db82ca6e0d0d06435cf41ff7d0fb06
+size 164021
diff --git a/place_dual_shoes/.accepted_bundles/episode36/data/episode36.hdf5 b/place_dual_shoes/.accepted_bundles/episode36/data/episode36.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c92a5b2476bea597091c0d0a662481f0ace33077
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode36/data/episode36.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c61e21610bc7e70c576d87e8e25b785683b27603c06ca723e18fd1a2f7b95c2
+size 38484907
diff --git a/place_dual_shoes/.accepted_bundles/episode36/instructions/episode36.json b/place_dual_shoes/.accepted_bundles/episode36/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ea8f7254a5f74fc5b6ff0d30135cd36ca9c848
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode36/instructions/episode36.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Ensure two the rounded tip leather shoe are in the orange Nike shoe-box with logo, tips facing left."
+  ],
+  "unseen": [
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode36/phase_trace/episode36.json b/place_dual_shoes/.accepted_bundles/episode36/phase_trace/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57b04fabb6ddf2ecfc4efc3d604883af8dcde50
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode36/phase_trace/episode36.json
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+{
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+      "end_physics_step": 992,
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+        "left_shoe",
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+      ],
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+        "right_lift"
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+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "start_physics_step": 1227,
+      "true_dependency_wait_arms": [],
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+    },
+    {
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+        "left",
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+      ],
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+      "end_frame": 228,
+      "end_physics_step": 3071,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 159,
+      "start_physics_step": 2134,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 36,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 228,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode36/validation/episode36.json b/place_dual_shoes/.accepted_bundles/episode36/validation/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..975b1eb856e00137f9d968a6a8a5374c8bb90d9a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode36/validation/episode36.json
@@ -0,0 +1,1508 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1873391420633984,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19395,
+  "training_actions_executed": 220
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode36/video/episode36.mp4 b/place_dual_shoes/.accepted_bundles/episode36/video/episode36.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ef78d841673817501c7a05bbbdb3ffe409012e2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode36/video/episode36.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9590c20e9c4084fd2e26d8f58dd008024e9a8a77a8db169259eb2c2d440e9ded
+size 142073
diff --git a/place_dual_shoes/.accepted_bundles/episode37/data/episode37.hdf5 b/place_dual_shoes/.accepted_bundles/episode37/data/episode37.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6fdb85d15395dfa9c87df8683e8e41c21f13cf8f
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode37/data/episode37.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b24d324803de66c09041b39eb38547d8b61841f8329fc03ad9ba3a3562a5ac5
+size 41259822
diff --git a/place_dual_shoes/.accepted_bundles/episode37/instructions/episode37.json b/place_dual_shoes/.accepted_bundles/episode37/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e3d5219df0590e4970953fcdd8b7a19b96a193
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode37/instructions/episode37.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lift and put two the red shoe with white sole in the bright orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode37/phase_trace/episode37.json b/place_dual_shoes/.accepted_bundles/episode37/phase_trace/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c9b5779865283d4fa79bef3aa4cbb425cba8195
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode37/phase_trace/episode37.json
@@ -0,0 +1,1905 @@
+{
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+      ],
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+        "left_shoe",
+        "right_shoe"
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+        "left_lift",
+        "right_lift"
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+        "right_grasp"
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+        "right_shoe"
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+      "name": "left_place+right_prepare",
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+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "true_dependency_wait_arms": [],
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+    },
+    {
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+        "left",
+        "right"
+      ],
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+      "end_physics_step": 3261,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 172,
+      "start_physics_step": 2326,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 37,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 241,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2910749912261963,
+      -0.0322190523147583,
+      0.6399678587913513,
+      0.2973553240299225,
+      0.296898752450943,
+      0.6411144137382507,
+      0.6421862244606018
+    ],
+    "right_shoe_pose": [
+      0.25694379210472107,
+      -0.09920850396156311,
+      0.6399675607681274,
+      0.12164566665887833,
+      0.12147549539804459,
+      0.6960024833679199,
+      0.6971560120582581
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
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diff --git a/place_dual_shoes/.accepted_bundles/episode37/validation/episode37.json b/place_dual_shoes/.accepted_bundles/episode37/validation/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf331a3c604c4e2ae5972d10030fb1abda105a5b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode37/validation/episode37.json
@@ -0,0 +1,1586 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.18749249368967444,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 21350,
+  "training_actions_executed": 233
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode37/video/episode37.mp4 b/place_dual_shoes/.accepted_bundles/episode37/video/episode37.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0ca3b3b9b50e87633784d0d8234edc00a1f44d0
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode37/video/episode37.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06206e825d844418c27a9766933cb2eb1830ea35886fa050a9ff5cbbdceee80
+size 158830
diff --git a/place_dual_shoes/.accepted_bundles/episode38/data/episode38.hdf5 b/place_dual_shoes/.accepted_bundles/episode38/data/episode38.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d126cb1f4cc9e68d3a10c13cde01d2a0e45b1bda
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode38/data/episode38.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967955c9b0a13f244e12482f02a1b201b494a45264bb9b5de266d595fcc768ce
+size 41422081
diff --git a/place_dual_shoes/.accepted_bundles/episode38/instructions/episode38.json b/place_dual_shoes/.accepted_bundles/episode38/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee30ac1ee031d0199efd84aced80904a6e15048
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode38/instructions/episode38.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Place both items matching the rounded front shoe tips leftward into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Pick up two the walking shoe with grip sole, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode38/phase_trace/episode38.json b/place_dual_shoes/.accepted_bundles/episode38/phase_trace/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..29da978b13024f8096aca36106c6a9c097cf6079
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode38/phase_trace/episode38.json
@@ -0,0 +1,1803 @@
+{
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+        "right_grasp"
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+        "right_shoe"
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+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+    },
+    {
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+        "left",
+        "right"
+      ],
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+      "end_physics_step": 3026,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 154,
+      "start_physics_step": 2068,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 38,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23558077216148376,
+      0.029604587703943253,
+      0.6397188901901245,
+      0.3736817240715027,
+      0.3671858310699463,
+      -0.5947741866111755,
+      -0.6097378730773926
+    ],
+    "right_shoe_pose": [
+      0.26047268509864807,
+      -0.008062085136771202,
+      0.6397171020507812,
+      0.59946209192276,
+      0.585087239742279,
+      0.38274484872817993,
+      0.38964661955833435
+    ],
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diff --git a/place_dual_shoes/.accepted_bundles/episode38/validation/episode38.json b/place_dual_shoes/.accepted_bundles/episode38/validation/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..688d97fea742665e2e44f749382f47f6fdfbfa13
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode38/validation/episode38.json
@@ -0,0 +1,1484 @@
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diff --git a/place_dual_shoes/.accepted_bundles/episode38/video/episode38.mp4 b/place_dual_shoes/.accepted_bundles/episode38/video/episode38.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3528b2f1bde686641edc7e19a968762dc6bb5847
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode38/video/episode38.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4000b0e48650c26f24bb7bf1dc7a8406cfc05c49ce9337604a2789af11d4cecb
+size 164134
diff --git a/place_dual_shoes/.accepted_bundles/episode39/data/episode39.hdf5 b/place_dual_shoes/.accepted_bundles/episode39/data/episode39.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7eed4a2afe920f2f5149ab0544ba7a6b77b6bdc2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode39/data/episode39.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13bcc95505669c9f192e1ec4252472e601b53839ce9f8b8be3c8a661d5d321cf
+size 36222577
diff --git a/place_dual_shoes/.accepted_bundles/episode39/instructions/episode39.json b/place_dual_shoes/.accepted_bundles/episode39/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..56854d8b4010a9bf75d59429a1e8c7ab48519c7a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode39/instructions/episode39.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Transfer two the shoe with grooved bottom, tips left-aligned, into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode39/phase_trace/episode39.json b/place_dual_shoes/.accepted_bundles/episode39/phase_trace/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..658c50d61ad6399f4e69e8be7ee7e53e83d6414e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode39/phase_trace/episode39.json
@@ -0,0 +1,1833 @@
+{
+  "base_config": "parallelvla_clean_pcd",
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+      "right": 90.0
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+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
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+      "right": 0
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+      "right": 0.0
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+      "left": 150.2146484375,
+      "right": 106.36617838541667
+    }
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+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.19945912990494494,
+    "moves": {
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+        "minimum_capsule_distance_m": 0.4102609837833454
+      },
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+        "minimum_capsule_distance_m": 0.4167865436771861
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+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19945912990494494
+      }
+    },
+    "physics_steps_checked": 3929
+  },
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+  "motion_cross_check": {
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+        145
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+      "right_motion_frames": 20
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+        "left_shoe",
+        "right_shoe"
+      ],
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+        "left_grasp",
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+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
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+        "left",
+        "right"
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+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
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+        "right_grasp"
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+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "held_objects": [
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+        "right_shoe"
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+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
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+    },
+    {
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+        "left",
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+      "end_physics_step": 3029,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 144,
+      "start_physics_step": 1935,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 39,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.26194891333580017,
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+      -0.42925986647605896,
+      -0.43905121088027954
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+      0.6975263953208923,
+      0.6708055138587952,
+      -0.17460477352142334,
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 5
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 68,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode39/validation/episode39.json b/place_dual_shoes/.accepted_bundles/episode39/validation/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab9f5a5e48c9c9f9cd0f6f6667f2570406dab5a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode39/validation/episode39.json
@@ -0,0 +1,1514 @@
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+          0.15010833103640953,
+          0.06999997201749193
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+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 186.70921223958334,
+      "right": 187.37656684027777
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.17128116021830367,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17128116021830367
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3576264857426334
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3738741154911932
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17129853130968808
+      }
+    },
+    "physics_steps_checked": 4131
+  },
+  "episode_index": 4,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        170,
+        170
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 80,
+      "left_motion_frames": 65,
+      "overlap_frames": 41,
+      "overlap_ratio_active": 0.6307692307692307,
+      "overlap_ratio_all": 0.5125,
+      "right_motion_frames": 41
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 976,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1199,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 976,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 169,
+      "end_physics_step": 2298,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1199,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3231,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 169,
+      "start_physics_step": 2298,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 4,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2752692997455597,
+      0.0007719844579696655,
+      0.639953076839447,
+      0.23316609859466553,
+      0.23219886422157288,
+      0.6673089861869812,
+      0.6681439876556396
+    ],
+    "right_shoe_pose": [
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+      -0.005325285717844963,
+      0.639953076839447,
+      0.2329704463481903,
+      0.23195509612560272,
+      0.6674962639808655,
+      0.6681097149848938
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 0
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 24,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
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+  "task_name": "place_dual_shoes",
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diff --git a/place_dual_shoes/.accepted_bundles/episode4/validation/episode4.json b/place_dual_shoes/.accepted_bundles/episode4/validation/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e75fc50142a288cf8b4e8ed26593fab7357537a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode4/validation/episode4.json
@@ -0,0 +1,1556 @@
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+    "minimum_capsule_distance_m": 0.19672231241966778,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19672231241966778
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4114275752984741
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4499955973521113
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21254587843700584
+      }
+    },
+    "physics_steps_checked": 3898
+  },
+  "episode_index": 40,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        154,
+        154
+      ],
+      "frames": 69,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5535714285714286,
+      "overlap_ratio_all": 0.4492753623188406,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 62,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 77,
+      "left_motion_frames": 62,
+      "overlap_frames": 62,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8051948051948052,
+      "right_motion_frames": 62
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        78,
+        78
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 47,
+      "first_motion_frame": [
+        96,
+        96
+      ],
+      "frames": 58,
+      "left_motion_frames": 47,
+      "overlap_frames": 22,
+      "overlap_ratio_active": 0.46808510638297873,
+      "overlap_ratio_all": 0.3793103448275862,
+      "right_motion_frames": 22
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 77,
+      "end_physics_step": 1055,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 95,
+      "end_physics_step": 1283,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 77,
+      "start_physics_step": 1055,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 153,
+      "end_physics_step": 2058,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 95,
+      "start_physics_step": 1283,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 222,
+      "end_physics_step": 2998,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 153,
+      "start_physics_step": 2058,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 40,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 222,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24216622114181519,
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+      -0.5334601402282715,
+      -0.5834459066390991
+    ],
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+      0.4070401191711426,
+      0.37519240379333496,
+      -0.5620909929275513,
+      -0.6144939064979553
+    ],
+    "shoe_box_pose": [
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 3
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 67,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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diff --git a/place_dual_shoes/.accepted_bundles/episode40/validation/episode40.json b/place_dual_shoes/.accepted_bundles/episode40/validation/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a85d64223e9856e2b57f32c1050c70911b880e8
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode40/validation/episode40.json
@@ -0,0 +1,1466 @@
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+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 230,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode41/validation/episode41.json b/place_dual_shoes/.accepted_bundles/episode41/validation/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..737e6c89c52f200d0f0d87f7e12bdc84a6f9bdda
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode41/validation/episode41.json
@@ -0,0 +1,1526 @@
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+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19916,
+  "training_actions_executed": 223
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diff --git a/place_dual_shoes/.accepted_bundles/episode41/video/episode41.mp4 b/place_dual_shoes/.accepted_bundles/episode41/video/episode41.mp4
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index 0000000000000000000000000000000000000000..359a7929f0abdc527e037efa29d2fd9f82c6ec8e
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 153223
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--- /dev/null
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diff --git a/place_dual_shoes/.accepted_bundles/episode42/instructions/episode42.json b/place_dual_shoes/.accepted_bundles/episode42/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..883d62b7e483931473dc1a475a8cf4404f9cec77
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode42/instructions/episode42.json
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+{
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+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes."
+  ]
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diff --git a/place_dual_shoes/.accepted_bundles/episode42/phase_trace/episode42.json b/place_dual_shoes/.accepted_bundles/episode42/phase_trace/episode42.json
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--- /dev/null
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+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
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+      "start_physics_step": 2448,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 42,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 248,
+  "scene_identity": {
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+  "seed_policy": "independent",
+  "source_commits": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode42/validation/episode42.json b/place_dual_shoes/.accepted_bundles/episode42/validation/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f72a30a3cdefb66c63aae588ab9df889a59f15
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode42/validation/episode42.json
@@ -0,0 +1,1640 @@
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+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 43,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 228,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode43/validation/episode43.json b/place_dual_shoes/.accepted_bundles/episode43/validation/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..34deb4e5b6b0d95ebdfcc09c3584dc0f408285f8
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode43/validation/episode43.json
@@ -0,0 +1,1502 @@
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+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19255,
+  "training_actions_executed": 219
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode43/video/episode43.mp4 b/place_dual_shoes/.accepted_bundles/episode43/video/episode43.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eda5e7dd6cddfcec4c4fccaee217f00f063a0be8
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode43/video/episode43.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69cae98c4f7acfe03a22faf3429dddc2d128d72b3607d1c3a1eca264e921d39c
+size 160682
diff --git a/place_dual_shoes/.accepted_bundles/episode44/data/episode44.hdf5 b/place_dual_shoes/.accepted_bundles/episode44/data/episode44.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b918edbc85a680782eb32f6ec702bf761041bc84
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode44/data/episode44.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a0f8668de4f02264a06afb05eadc01b82e3591d48d29dce345e799e14b9bc4
+size 36763474
diff --git a/place_dual_shoes/.accepted_bundles/episode44/instructions/episode44.json b/place_dual_shoes/.accepted_bundles/episode44/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5d3b9a9d88046e7a4aec228b4daddc0d095843
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode44/instructions/episode44.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use hands to grab two the shoe with thick rubber sole, tips left, drop into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode44/phase_trace/episode44.json b/place_dual_shoes/.accepted_bundles/episode44/phase_trace/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a8c95171d7a5512dba43d88908033a008c5b37
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode44/phase_trace/episode44.json
@@ -0,0 +1,1779 @@
+{
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+        "right_lift"
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+        "left_arm",
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+      "held_objects": [
+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2014,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 44,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 221,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode44/validation/episode44.json b/place_dual_shoes/.accepted_bundles/episode44/validation/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3d10469508fd820ba8fd1be18f08078d099cf4
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode44/validation/episode44.json
@@ -0,0 +1,1460 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1990386473504217,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18145,
+  "training_actions_executed": 212
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode44/video/episode44.mp4 b/place_dual_shoes/.accepted_bundles/episode44/video/episode44.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de2ed405b21cb32e681f612ab43d500fa7735db2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode44/video/episode44.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f859d81a35c92a633b98bb32b0f94365cbde3cccba17ce4650ddee76ab2f14c1
+size 143738
diff --git a/place_dual_shoes/.accepted_bundles/episode45/data/episode45.hdf5 b/place_dual_shoes/.accepted_bundles/episode45/data/episode45.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5552711f274fd6c7a44b1adad97130f5ef344899
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode45/data/episode45.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b781b15fdf999ac29b5e66cd94ac3249a4ae43527d858d9b0daf85aa300b8051
+size 41046657
diff --git a/place_dual_shoes/.accepted_bundles/episode45/instructions/episode45.json b/place_dual_shoes/.accepted_bundles/episode45/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be2bc458a59ae506a0d768c6d1bc5c037b43ad5
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode45/instructions/episode45.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Set two the medium-sized green walking shoe in the rectangular shoe-box with orange lid, tips pointing left."
+  ],
+  "unseen": [
+    "Place both items matching the green shoe into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode45/phase_trace/episode45.json b/place_dual_shoes/.accepted_bundles/episode45/phase_trace/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1989efd950a84d26a001b51a92c7fc631bcb167
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode45/phase_trace/episode45.json
@@ -0,0 +1,1791 @@
+{
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+        "right_shoe"
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+        "right_prepare"
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+        "right_lift"
+      ],
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+        "left_arm",
+        "right_arm",
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+        "right_shoe"
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+    {
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+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 149,
+      "start_physics_step": 1977,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 45,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 219,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20684021711349487,
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+      -0.5,
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 75,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
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+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode45/validation/episode45.json b/place_dual_shoes/.accepted_bundles/episode45/validation/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1602f026098b48c9ec1069120a60733b6f3ff2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode45/validation/episode45.json
@@ -0,0 +1,1472 @@
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+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3652140837014411
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16694653979917898
+      }
+    },
+    "physics_steps_checked": 3813
+  },
+  "episode_index": 46,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        149,
+        149
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 46,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 58,
+      "left_motion_frames": 46,
+      "overlap_frames": 22,
+      "overlap_ratio_active": 0.4782608695652174,
+      "overlap_ratio_all": 0.3793103448275862,
+      "right_motion_frames": 22
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 984,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1219,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 984,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 148,
+      "end_physics_step": 1982,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1219,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 217,
+      "end_physics_step": 2913,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 148,
+      "start_physics_step": 1982,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 46,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 217,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23335754871368408,
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+      -0.5643829107284546,
+      -0.5653048753738403
+    ],
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+      0.6399680376052856,
+      0.22202646732330322,
+      0.22169624269008636,
+      0.6708416938781738,
+      0.6719571352005005
+    ],
+    "shoe_box_pose": [
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 84,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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diff --git a/place_dual_shoes/.accepted_bundles/episode46/validation/episode46.json b/place_dual_shoes/.accepted_bundles/episode46/validation/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ed4a190e5f651b5a68d4055936083a55e4eb82
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode46/validation/episode46.json
@@ -0,0 +1,1442 @@
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diff --git a/place_dual_shoes/.accepted_bundles/episode46/video/episode46.mp4 b/place_dual_shoes/.accepted_bundles/episode46/video/episode46.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/place_dual_shoes/.accepted_bundles/episode47/instructions/episode47.json b/place_dual_shoes/.accepted_bundles/episode47/instructions/episode47.json
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--- /dev/null
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diff --git a/place_dual_shoes/.accepted_bundles/episode47/phase_trace/episode47.json b/place_dual_shoes/.accepted_bundles/episode47/phase_trace/episode47.json
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--- /dev/null
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+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
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+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 2102,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 47,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode47/validation/episode47.json b/place_dual_shoes/.accepted_bundles/episode47/validation/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..1998ecd4760cbe41f023f800cb991fe4aacea0d1
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode47/validation/episode47.json
@@ -0,0 +1,1574 @@
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+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
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+  "training_actions_executed": 231
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode47/video/episode47.mp4 b/place_dual_shoes/.accepted_bundles/episode47/video/episode47.mp4
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index 0000000000000000000000000000000000000000..f1ef89343b0a47671bef16846390d50ce8ad5a84
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode47/video/episode47.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 159118
diff --git a/place_dual_shoes/.accepted_bundles/episode48/data/episode48.hdf5 b/place_dual_shoes/.accepted_bundles/episode48/data/episode48.hdf5
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/place_dual_shoes/.accepted_bundles/episode48/instructions/episode48.json b/place_dual_shoes/.accepted_bundles/episode48/instructions/episode48.json
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index 0000000000000000000000000000000000000000..c61f480ad357ca8960c36054ea84ae944845cd16
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode48/instructions/episode48.json
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+{
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+    "Move two the medium-sized green walking shoe, tip ends left, and set them in the medium orange box with smooth surface."
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+    "Put a pair of the running shoe with laces in the medium cardboard shoe-box, tips pointing left."
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diff --git a/place_dual_shoes/.accepted_bundles/episode48/phase_trace/episode48.json b/place_dual_shoes/.accepted_bundles/episode48/phase_trace/episode48.json
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--- /dev/null
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+{
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+        "left_place",
+        "right_prepare"
+      ],
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+        "left_lift",
+        "right_lift"
+      ],
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+        "left_arm",
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+        "right_shoe"
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+    },
+    {
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+      "end_physics_step": 3421,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 179,
+      "start_physics_step": 2438,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 48,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 252,
+  "scene_identity": {
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+  "schema_version": 5,
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+  "seed_policy": "independent",
+  "source_commits": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode48/validation/episode48.json b/place_dual_shoes/.accepted_bundles/episode48/validation/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..83df558157aec6442bb73ec8692c51d0cd899c1b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode48/validation/episode48.json
@@ -0,0 +1,1694 @@
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+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 46,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 57,
+      "left_motion_frames": 46,
+      "overlap_frames": 22,
+      "overlap_ratio_active": 0.4782608695652174,
+      "overlap_ratio_all": 0.38596491228070173,
+      "right_motion_frames": 22
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1215,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 147,
+      "end_physics_step": 1969,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1215,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2905,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 147,
+      "start_physics_step": 1969,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 49,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2979806363582611,
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+      -0.3109615445137024,
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+      0.571281909942627,
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 83,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode49/validation/episode49.json b/place_dual_shoes/.accepted_bundles/episode49/validation/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77af04bf1c992c828f04b94ecc89dbc762d188a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode49/validation/episode49.json
@@ -0,0 +1,1436 @@
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+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17503,
+  "training_actions_executed": 208
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode49/video/episode49.mp4 b/place_dual_shoes/.accepted_bundles/episode49/video/episode49.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..690c918a3f335300a0afd5abc79ec7d233b48a59
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode49/video/episode49.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eb2372aaada7d45efef1f0e7114f64991ded9e2e8032c4292765ae533757457
+size 155840
diff --git a/place_dual_shoes/.accepted_bundles/episode5/data/episode5.hdf5 b/place_dual_shoes/.accepted_bundles/episode5/data/episode5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6334653f8ec7f959e93ed0f6febf3b63e10c4edc
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode5/data/episode5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 40847713
diff --git a/place_dual_shoes/.accepted_bundles/episode5/instructions/episode5.json b/place_dual_shoes/.accepted_bundles/episode5/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..26cde8b44bca8ed371bc98821d5f84e67714fd18
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode5/instructions/episode5.json
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+{
+  "episode_index": 0,
+  "seen": [
+    "Move a pair of the red shoe rounded at front into the bright orange shoe-box, left tips first."
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+  "unseen": [
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode5/phase_trace/episode5.json b/place_dual_shoes/.accepted_bundles/episode5/phase_trace/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..5692cfd4385e235902689d3d7200074ce122c48a
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode5/phase_trace/episode5.json
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+{
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+      "name": "left_back+right_place",
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+        "left_back",
+        "right_place"
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+        "left_place",
+        "right_prepare"
+      ],
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+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
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+      "start_physics_step": 2276,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 5,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 237,
+  "scene_identity": {
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+  "seed": 6,
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode5/validation/episode5.json b/place_dual_shoes/.accepted_bundles/episode5/validation/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9423f2fbc0ad08bbbc2bbb1ab51b03be9000770
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode5/validation/episode5.json
@@ -0,0 +1,1562 @@
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+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20782,
+  "training_actions_executed": 229
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode5/video/episode5.mp4 b/place_dual_shoes/.accepted_bundles/episode5/video/episode5.mp4
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index 0000000000000000000000000000000000000000..6b6d35af70ec8827c2b2a28e2019f6550971b03c
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode5/video/episode5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e17ff73c0c689c8c7b9519f61c1a6a2b2d26b4ff0f7dbb923fef461deb2a6cf
+size 160946
diff --git a/place_dual_shoes/.accepted_bundles/episode6/data/episode6.hdf5 b/place_dual_shoes/.accepted_bundles/episode6/data/episode6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6a66a94a43077b821f918521516d0629cf64e0ff
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode6/data/episode6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430ccdc7e99d583bd54b3dd27340ce901c67d331416bc5514e6547727c934e27
+size 37022825
diff --git a/place_dual_shoes/.accepted_bundles/episode6/instructions/episode6.json b/place_dual_shoes/.accepted_bundles/episode6/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e340ac04e803d2da0fbb11c034b64f9cc2fa49
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode6/instructions/episode6.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab a pair of the shoe with grooved bottom, tips left, put them into the orange Nike shoe-box with logo."
+  ],
+  "unseen": [
+    "Place both items matching the brown footwear with smooth texture into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode6/phase_trace/episode6.json b/place_dual_shoes/.accepted_bundles/episode6/phase_trace/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..11075f1a5824f4a00fcfd4e831e5e1b560b86a07
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode6/phase_trace/episode6.json
@@ -0,0 +1,1803 @@
+{
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+        "left_back",
+        "right_place"
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+        "right_prepare"
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+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
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+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 6,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
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+  "scene_identity": {
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diff --git a/place_dual_shoes/.accepted_bundles/episode6/validation/episode6.json b/place_dual_shoes/.accepted_bundles/episode6/validation/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d3d8f1ad1615d4a68023d177eb1d0b230cd637
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode6/validation/episode6.json
@@ -0,0 +1,1484 @@
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+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
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+      -0.09206200391054153,
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+      0.5140841007232666,
+      0.47790753841400146,
+      -0.4863259196281433,
+      -0.5203933715820312
+    ]
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+  "training_action_input_frames": 225,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.19367668583830036,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18415,
+  "training_actions_executed": 216
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode6/video/episode6.mp4 b/place_dual_shoes/.accepted_bundles/episode6/video/episode6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3118a108edcb62cdfe9d8f2e56df785ec5f32e59
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode6/video/episode6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7aa1739d463b4728c6ba54ebaeb993558fbcc1ee253397e9219fe324210d50b
+size 144152
diff --git a/place_dual_shoes/.accepted_bundles/episode7/data/episode7.hdf5 b/place_dual_shoes/.accepted_bundles/episode7/data/episode7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..389a4de8d3c8d3e7c7718ca2d54ffa1338bb9c5f
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode7/data/episode7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858bdf58e5e8f8a8ef3eea542bb2559dc032c8625ac5669207e67aaed5392c1d
+size 41367791
diff --git a/place_dual_shoes/.accepted_bundles/episode7/instructions/episode7.json b/place_dual_shoes/.accepted_bundles/episode7/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc624bfce507558cdf4e9b14ebef00826ebbe71
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode7/instructions/episode7.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "With both arms, move two the red sneaker into the rectangular shoe-box with orange lid, tips facing left."
+  ],
+  "unseen": [
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode7/phase_trace/episode7.json b/place_dual_shoes/.accepted_bundles/episode7/phase_trace/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb01ceb2818cc4a0b868fa1ea1aa1ccef36ebb7
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode7/phase_trace/episode7.json
@@ -0,0 +1,1887 @@
+{
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+  "camera_validation": {
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+      "right": 90.0
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+      "name": "centered_fovy90",
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+      "width": 320
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+    "wrist_consecutive_dark_frames": {
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+      "right": 170.25175130208333
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+        "minimum_capsule_distance_m": 0.16671169874196817
+      }
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+    "physics_steps_checked": 4134
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+  "motion_cross_check": {
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+      "right_motion_frames": 59
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+      "right_motion_frames": 40
+    }
+  },
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+        "right"
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+      "end_physics_step": 996,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "name": "left_grasp+right_grasp",
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+        "left_grasp",
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+        "left_arm",
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+        "left_shoe",
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+        "right_shoe"
+      ],
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+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
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+        "left_grasp",
+        "right_grasp"
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+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
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+      "held_objects": [
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+        "right_shoe"
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+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
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+    },
+    {
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+        "left",
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+      ],
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+      "end_physics_step": 3234,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 169,
+      "start_physics_step": 2301,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 7,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2849620580673218,
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+      0.23804716765880585,
+      0.6652151942253113,
+      0.6663224101066589
+    ],
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+      0.28443044424057007,
+      0.28393468260765076,
+      -0.6469560861587524,
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 10,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
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diff --git a/place_dual_shoes/.accepted_bundles/episode7/validation/episode7.json b/place_dual_shoes/.accepted_bundles/episode7/validation/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..393f79d10f641435765935a3163448e7a63900b2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode7/validation/episode7.json
@@ -0,0 +1,1568 @@
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+  "training_action_minimum_capsule_distance_m": 0.16523825458519129,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20904,
+  "training_actions_executed": 230
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode7/video/episode7.mp4 b/place_dual_shoes/.accepted_bundles/episode7/video/episode7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af7afe0a9d90d2ef8cced0caed0d202e41466617
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode7/video/episode7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1d915c1a9eb765d4ba8ce6c6426b4bfef8800798c0177d94b0fc00b09408c3
+size 172788
diff --git a/place_dual_shoes/.accepted_bundles/episode8/data/episode8.hdf5 b/place_dual_shoes/.accepted_bundles/episode8/data/episode8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7ee0394e666262f29f174aa30f7b370d30fde63e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode8/data/episode8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ade303cb787f5b30367f72e1a23c4581f2e5e8fb7c8e2630506e34041ba92e
+size 44858470
diff --git a/place_dual_shoes/.accepted_bundles/episode8/instructions/episode8.json b/place_dual_shoes/.accepted_bundles/episode8/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed878dbfc8b865f71724b59f7128501055d26bcd
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode8/instructions/episode8.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Place both items matching the white-laced green running shoe into the rectangular orange shoe-box, ensure shoe tips face left."
+  ],
+  "unseen": [
+    "Place both items matching the green shoe into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode8/phase_trace/episode8.json b/place_dual_shoes/.accepted_bundles/episode8/phase_trace/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc9ed85afbcf15213d00aaaf19399962469405e
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode8/phase_trace/episode8.json
@@ -0,0 +1,1935 @@
+{
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+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
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+        "right_prepare"
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+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
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+      "start_physics_step": 2322,
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+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 8,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 242,
+  "scene_identity": {
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+  "schedule_search": null,
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diff --git a/place_dual_shoes/.accepted_bundles/episode8/validation/episode8.json b/place_dual_shoes/.accepted_bundles/episode8/validation/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ba1d5c6ec4ee27df81096d99f212121281f0d7
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode8/validation/episode8.json
@@ -0,0 +1,1616 @@
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+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21111764244059167,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 21964,
+  "training_actions_executed": 238
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode8/video/episode8.mp4 b/place_dual_shoes/.accepted_bundles/episode8/video/episode8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2b5904d4af5adee9d4e6e2f78dcfde5faad1359
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode8/video/episode8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e59460f218306d6e98f29725713c2e0da2ce98666c51228b69b25ca3d7c9e9a
+size 181586
diff --git a/place_dual_shoes/.accepted_bundles/episode9/data/episode9.hdf5 b/place_dual_shoes/.accepted_bundles/episode9/data/episode9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e4ca61f9f3658d832edf42d01ca855a976d0f79b
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode9/data/episode9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88afb12f07de8f51a736beefdad99d302399fba82fd994200ab39a06b466b2a9
+size 42461768
diff --git a/place_dual_shoes/.accepted_bundles/episode9/instructions/episode9.json b/place_dual_shoes/.accepted_bundles/episode9/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c1cc1b65daddb998ff37ef5701f50de7e13fc2
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode9/instructions/episode9.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Ensure two the dual-tone shoe with sleek design are in the rectangular shoe-box with orange lid, tips facing left."
+  ],
+  "unseen": [
+    "Put a pair of the black shoe with white midsole in the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/.accepted_bundles/episode9/phase_trace/episode9.json b/place_dual_shoes/.accepted_bundles/episode9/phase_trace/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae872c4663d35de368b9120ebd1582a753b3cab0
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode9/phase_trace/episode9.json
@@ -0,0 +1,1863 @@
+{
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+        "right_lift"
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+        "left_arm",
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+      "held_objects": [
+        "right_shoe"
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+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
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+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
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+      "start_physics_step": 1984,
+      "true_dependency_wait_arms": [],
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+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 9,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 235,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2994123697280884,
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+      0.7044960260391235,
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 0
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 14,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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diff --git a/place_dual_shoes/.accepted_bundles/episode9/validation/episode9.json b/place_dual_shoes/.accepted_bundles/episode9/validation/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..123a4a7a96e6da93e9c16127be8aef74a22cb257
--- /dev/null
+++ b/place_dual_shoes/.accepted_bundles/episode9/validation/episode9.json
@@ -0,0 +1,1544 @@
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+        "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+        "training_action_replay_success": true,
+        "training_action_total_physics_steps": 17503,
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+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "schema_version": 5,
+  "seed_policy": "independent",
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
+  "task": "place_dual_shoes",
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "validate_synchronized_training_replay": true,
+  "variant": "dependency_aware_overlap",
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/instructions/episode0.json b/place_dual_shoes/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a7c935a407f787623ffca1550d4dbc3815da6f4
--- /dev/null
+++ b/place_dual_shoes/instructions/episode0.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the medium-sized rounded white shoe, tips left, drop them into the smooth orange box for shoes."
+  ],
+  "unseen": [
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode1.json b/place_dual_shoes/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a146febadfdec36c7fa3c67d7332f7deb422d331
--- /dev/null
+++ b/place_dual_shoes/instructions/episode1.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Position two the shoe with smooth leather upper into the medium orange box with smooth surface, shoe tips leftward."
+  ],
+  "unseen": [
+    "Use both arms to move two the white leather shoe with gum sole to the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode10.json b/place_dual_shoes/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6d6bcbfec427cfbcfc3a0938e1e6145e910565
--- /dev/null
+++ b/place_dual_shoes/instructions/episode10.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Put two the green lace-up sneaker into the bright orange shoe-box, shoe tips left."
+  ],
+  "unseen": [
+    "Place both items matching the green shoe into the orange box for keeping shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode11.json b/place_dual_shoes/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1f846ed7c299f94acede209263556da15a9f86b
--- /dev/null
+++ b/place_dual_shoes/instructions/episode11.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab a pair of the smooth white shoe, tips left, put them into the orange cardboard shoe-box."
+  ],
+  "unseen": [
+    "Place both items matching the rounded white shoe into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode12.json b/place_dual_shoes/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..30851747a5a82dd71e0559740fbbde530600455e
--- /dev/null
+++ b/place_dual_shoes/instructions/episode12.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the medium-sized brown shoe in the smooth bright orange box, tips oriented left."
+  ],
+  "unseen": [
+    "Pick up two the smooth plastic shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode13.json b/place_dual_shoes/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0264ea824cad8fd27108f150b45af2cea3f0d3
--- /dev/null
+++ b/place_dual_shoes/instructions/episode13.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use arms to lift two the footwear with padded heel, tips left, and set in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Put a pair of the running shoe with laces in the medium cardboard shoe-box, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode14.json b/place_dual_shoes/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dbe604198c36e4bbaa6fe994f0ffa090b9d2bb
--- /dev/null
+++ b/place_dual_shoes/instructions/episode14.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab both the synthetic leather shoe and put them into the smooth bright orange box, tips left."
+  ],
+  "unseen": [
+    "Place both items matching the medium adult shoe into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode15.json b/place_dual_shoes/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda18cda1b8c6228b87f624ce940611827a3e93f
--- /dev/null
+++ b/place_dual_shoes/instructions/episode15.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lift and put two the rubber sole shoe in the smooth bright orange box, tips left."
+  ],
+  "unseen": [
+    "Pick up two the shoe with adjustable laces, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode16.json b/place_dual_shoes/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..f740e11f96ce00ea28bc0589773eab8e137e7d29
--- /dev/null
+++ b/place_dual_shoes/instructions/episode16.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use both arms to set two the shoe with grooved bottom in the bright orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Pick up two the brown footwear with smooth texture, tips left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode17.json b/place_dual_shoes/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e606dce09da8576bb915b4da07de58c8a5420cfb
--- /dev/null
+++ b/place_dual_shoes/instructions/episode17.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the single red shoe in the Nike-branded orange shoe-box, tips oriented left."
+  ],
+  "unseen": [
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode18.json b/place_dual_shoes/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1473ea833788c9a68ded37f64e30798acdd80443
--- /dev/null
+++ b/place_dual_shoes/instructions/episode18.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grasp two the synthetic leather white shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh."
+  ],
+  "unseen": [
+    "Place both items matching the shoe with rubber bottom into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode19.json b/place_dual_shoes/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..c495e29ad5046ae068c12654bc713b274f5decc5
--- /dev/null
+++ b/place_dual_shoes/instructions/episode19.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the footwear with red top white sole, tip ends left, and set them in the orange cardboard shoe-box."
+  ],
+  "unseen": [
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode2.json b/place_dual_shoes/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4929d6c61c17b3460e7d754d46af2007b272aeb4
--- /dev/null
+++ b/place_dual_shoes/instructions/episode2.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use hands to grab two the canvas shoe with grooved sole, tips left, drop into the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Grab a pair of the white shoe with tongue logo, place left tips in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode20.json b/place_dual_shoes/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c85ed60320e232754bda182373ef87e4505081
--- /dev/null
+++ b/place_dual_shoes/instructions/episode20.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use arms to lift two the synthetic leather shoe, tips left, and set in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode21.json b/place_dual_shoes/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac35bdc7af8d878376329b41117e6d3a92d24d8
--- /dev/null
+++ b/place_dual_shoes/instructions/episode21.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab two the single red shoe, tip left, place them in the medium orange box with smooth surface."
+  ],
+  "unseen": [
+    "Place both items matching the red sneaker medium sized into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode22.json b/place_dual_shoes/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8700e9bdea4e802c210ff3c12e2ddd45edb4f9
--- /dev/null
+++ b/place_dual_shoes/instructions/episode22.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Arrange the two the white shoe with rounded toe, tips left, inside the smooth bright orange box."
+  ],
+  "unseen": [
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode23.json b/place_dual_shoes/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6e4f34c182774941951bfb48c9556b9a051d0c
--- /dev/null
+++ b/place_dual_shoes/instructions/episode23.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the shoe with smooth top and grippy sole in the bright orange shoe-box, tips oriented left."
+  ],
+  "unseen": [
+    "Put a pair of the black shoe with white midsole in the medium cardboard shoe-box, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode24.json b/place_dual_shoes/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d91f51ee9ea624b205756c931d0d81ce1aab0a
--- /dev/null
+++ b/place_dual_shoes/instructions/episode24.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the lace-up shoe into the smooth bright orange box, ensure tips point left."
+  ],
+  "unseen": [
+    "Lift two the shoe with black stripes, tips pointing left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode25.json b/place_dual_shoes/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..017f87f6c40bfa4a66fc28627631ad524af701c8
--- /dev/null
+++ b/place_dual_shoes/instructions/episode25.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lay down two the shoe with lace holes in the orange Nike shoe-box with logo, tips oriented left."
+  ],
+  "unseen": [
+    "Use both arms to move two the brown footwear with smooth texture to the rectangular Nike box for shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode26.json b/place_dual_shoes/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b1fd2e09d4dfea86927e8e0078c7ec58a92816
--- /dev/null
+++ b/place_dual_shoes/instructions/episode26.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the lace-up canvas shoe into the bright orange shoe-box, ensure tips point left."
+  ],
+  "unseen": [
+    "Lift two the walking shoe with grip sole, tips pointing left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode27.json b/place_dual_shoes/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c16f5818ab9bc71138532c1310e51922d95e598
--- /dev/null
+++ b/place_dual_shoes/instructions/episode27.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Slide both the sports shoe green with beige sole into the smooth orange box for shoes with tips pointing left."
+  ],
+  "unseen": [
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode28.json b/place_dual_shoes/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a08c721ee569deaa57408a29ca101a01d31bbd
--- /dev/null
+++ b/place_dual_shoes/instructions/episode28.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Drop a pair of the white shoe into the orange cardboard shoe-box, tips align left."
+  ],
+  "unseen": [
+    "Grab two the shoe with ribbed sole, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode29.json b/place_dual_shoes/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ebe6a5d1667f801c4e6f79c4dfe7a8e4bb4b3b5
--- /dev/null
+++ b/place_dual_shoes/instructions/episode29.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the average adult-sized shoe, tips left, and set them in the orange shoe-box."
+  ],
+  "unseen": [
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode3.json b/place_dual_shoes/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ead40eab3b95ae4ab057615e935bc86834a976
--- /dev/null
+++ b/place_dual_shoes/instructions/episode3.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Place both items matching the black shoe with white accents inside the shoe-box with Nike printed logo, make tips face left."
+  ],
+  "unseen": [
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode30.json b/place_dual_shoes/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..0586885480ed046cad6515630170ab6a92dba73f
--- /dev/null
+++ b/place_dual_shoes/instructions/episode30.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Hold two the white shoe, tips left, and place in the orange Nike shoe-box with logo."
+  ],
+  "unseen": [
+    "Place both items matching the black-accented white shoe into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode31.json b/place_dual_shoes/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..670120f75296a58aca190fa11c9f93e316573cac
--- /dev/null
+++ b/place_dual_shoes/instructions/episode31.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the white sneaker with red accents and set them in the orange Nike shoe-box with logo, tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the walking shoe with grip sole, place left tips in the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode32.json b/place_dual_shoes/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c967817356b16f79c40df1d17d9dfab1fae4917
--- /dev/null
+++ b/place_dual_shoes/instructions/episode32.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Handle two the white shoe, tips directed left, and drop them into the orange shoe-box."
+  ],
+  "unseen": [
+    "Grab a pair of the shoe with black stripe design, place left tips in the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode33.json b/place_dual_shoes/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..4517add2767c10b00cc8fe2c6dd255d0dffd562c
--- /dev/null
+++ b/place_dual_shoes/instructions/episode33.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Set two the white shoe with rubber sole into the rectangular orange shoe-box, align tips to the left."
+  ],
+  "unseen": [
+    "Put a pair of the white shoe in the rectangular Nike box for shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode34.json b/place_dual_shoes/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb780cf381c9afef259dfe044791ab15cf70f04d
--- /dev/null
+++ b/place_dual_shoes/instructions/episode34.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick up two the shoe with textured brown sole together and place in the rectangular shoe-box with orange lid, tips left."
+  ],
+  "unseen": [
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode35.json b/place_dual_shoes/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca7a02dd74d3e919ae395473a941caf9d51a44d
--- /dev/null
+++ b/place_dual_shoes/instructions/episode35.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use both arms to place both items matching the lace-up sneaker into the rectangular shoe-box with orange lid, tips left."
+  ],
+  "unseen": [
+    "Grab two the walking shoe with grip sole, point tips left, place in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode36.json b/place_dual_shoes/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ea8f7254a5f74fc5b6ff0d30135cd36ca9c848
--- /dev/null
+++ b/place_dual_shoes/instructions/episode36.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Ensure two the rounded tip leather shoe are in the orange Nike shoe-box with logo, tips facing left."
+  ],
+  "unseen": [
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode37.json b/place_dual_shoes/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e3d5219df0590e4970953fcdd8b7a19b96a193
--- /dev/null
+++ b/place_dual_shoes/instructions/episode37.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lift and put two the red shoe with white sole in the bright orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode38.json b/place_dual_shoes/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee30ac1ee031d0199efd84aced80904a6e15048
--- /dev/null
+++ b/place_dual_shoes/instructions/episode38.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Place both items matching the rounded front shoe tips leftward into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Pick up two the walking shoe with grip sole, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode39.json b/place_dual_shoes/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..56854d8b4010a9bf75d59429a1e8c7ab48519c7a
--- /dev/null
+++ b/place_dual_shoes/instructions/episode39.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Transfer two the shoe with grooved bottom, tips left-aligned, into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode4.json b/place_dual_shoes/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae89bb2941fc36b0197a38f2bf012697e5913d3a
--- /dev/null
+++ b/place_dual_shoes/instructions/episode4.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Put two the synthetic leather shoe into the rectangular shoe-box with orange lid, shoe tips left."
+  ],
+  "unseen": [
+    "Put a pair of the black shoe with white midsole in the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode40.json b/place_dual_shoes/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd1e109515a9d1ce3f9fb9655dcce21f003d8dc
--- /dev/null
+++ b/place_dual_shoes/instructions/episode40.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Lift and put two the medium shoe with synthetic material in the rectangular shoe-box with orange lid, tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the black-striped white shoe, place left tips in the medium cardboard shoe-box."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode41.json b/place_dual_shoes/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd41bcdf177c1c224257e1c8e633d119ba1a543
--- /dev/null
+++ b/place_dual_shoes/instructions/episode41.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Set two the smooth leather shoe in the rectangular orange shoe-box with tips left."
+  ],
+  "unseen": [
+    "Put a pair of the casual brown shoe in the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode42.json b/place_dual_shoes/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..883d62b7e483931473dc1a475a8cf4404f9cec77
--- /dev/null
+++ b/place_dual_shoes/instructions/episode42.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick two the medium white shoe, ensure tips facing left, and position in the orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode43.json b/place_dual_shoes/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee150dd6583711904fa495dc132569cfc4b6911
--- /dev/null
+++ b/place_dual_shoes/instructions/episode43.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Ensure two the shoe with curved sole are in the rectangular orange shoe-box, tips facing left."
+  ],
+  "unseen": [
+    "Place both items matching the black shoe with white midsole into the orange box for keeping shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode44.json b/place_dual_shoes/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5d3b9a9d88046e7a4aec228b4daddc0d095843
--- /dev/null
+++ b/place_dual_shoes/instructions/episode44.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Use hands to grab two the shoe with thick rubber sole, tips left, drop into the smooth bright orange box."
+  ],
+  "unseen": [
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode45.json b/place_dual_shoes/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be2bc458a59ae506a0d768c6d1bc5c037b43ad5
--- /dev/null
+++ b/place_dual_shoes/instructions/episode45.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Set two the medium-sized green walking shoe in the rectangular shoe-box with orange lid, tips pointing left."
+  ],
+  "unseen": [
+    "Place both items matching the green shoe into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode46.json b/place_dual_shoes/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..05dc3974a6d763e55eba2b17ca7877148b5a75a3
--- /dev/null
+++ b/place_dual_shoes/instructions/episode46.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the sports shoe into the medium orange box with smooth surface, ensure tips point left."
+  ],
+  "unseen": [
+    "Put a pair of the red sneaker medium sized in the rectangular Nike box for shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode47.json b/place_dual_shoes/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..c101fe9d104f7ab67565640a5ee825db9a1a2e17
--- /dev/null
+++ b/place_dual_shoes/instructions/episode47.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Pick two the white shoe with rounded toe, ensure tips facing left, and position in the orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the shoe with rubber bottom, tips pointing left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode48.json b/place_dual_shoes/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..c61f480ad357ca8960c36054ea84ae944845cd16
--- /dev/null
+++ b/place_dual_shoes/instructions/episode48.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move two the medium-sized green walking shoe, tip ends left, and set them in the medium orange box with smooth surface."
+  ],
+  "unseen": [
+    "Put a pair of the running shoe with laces in the medium cardboard shoe-box, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode49.json b/place_dual_shoes/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..0109b6cac26db70e65e4b1d6d3b38f66056cb71c
--- /dev/null
+++ b/place_dual_shoes/instructions/episode49.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Transfer two the white sneaker with red accents, tips left-aligned, into the bright orange shoe-box."
+  ],
+  "unseen": [
+    "Grab two the white shoe with tongue logo and set them in the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode5.json b/place_dual_shoes/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..26cde8b44bca8ed371bc98821d5f84e67714fd18
--- /dev/null
+++ b/place_dual_shoes/instructions/episode5.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Move a pair of the red shoe rounded at front into the bright orange shoe-box, left tips first."
+  ],
+  "unseen": [
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode6.json b/place_dual_shoes/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e340ac04e803d2da0fbb11c034b64f9cc2fa49
--- /dev/null
+++ b/place_dual_shoes/instructions/episode6.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Grab a pair of the shoe with grooved bottom, tips left, put them into the orange Nike shoe-box with logo."
+  ],
+  "unseen": [
+    "Place both items matching the brown footwear with smooth texture into the rectangular Nike box for shoes, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode7.json b/place_dual_shoes/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc624bfce507558cdf4e9b14ebef00826ebbe71
--- /dev/null
+++ b/place_dual_shoes/instructions/episode7.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "With both arms, move two the red sneaker into the rectangular shoe-box with orange lid, tips facing left."
+  ],
+  "unseen": [
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode8.json b/place_dual_shoes/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed878dbfc8b865f71724b59f7128501055d26bcd
--- /dev/null
+++ b/place_dual_shoes/instructions/episode8.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Place both items matching the white-laced green running shoe into the rectangular orange shoe-box, ensure shoe tips face left."
+  ],
+  "unseen": [
+    "Place both items matching the green shoe into the medium cardboard shoe-box, tips left."
+  ]
+}
diff --git a/place_dual_shoes/instructions/episode9.json b/place_dual_shoes/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c1cc1b65daddb998ff37ef5701f50de7e13fc2
--- /dev/null
+++ b/place_dual_shoes/instructions/episode9.json
@@ -0,0 +1,9 @@
+{
+  "episode_index": 0,
+  "seen": [
+    "Ensure two the dual-tone shoe with sleek design are in the rectangular shoe-box with orange lid, tips facing left."
+  ],
+  "unseen": [
+    "Put a pair of the black shoe with white midsole in the orange box for keeping shoes, tips pointing left."
+  ]
+}
diff --git a/place_dual_shoes/phase_trace/episode0.json b/place_dual_shoes/phase_trace/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab58d6e53891778ba667659fc35c7ad81396f8b
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode0.json
@@ -0,0 +1,1809 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 0,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 225,
+    "head_unique_frame_ratio": 0.9555555555555556,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.193044112783429e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 205.74063802083333,
+    "parallel_head_unique_frame_ratio": 0.9555555555555556,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 207.36050347222223,
+      "right": 205.74063802083333
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1460434268178231,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1460434268178231
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.24113642452111442
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.25747343611526274
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1460632634205869
+      }
+    },
+    "physics_steps_checked": 3915
+  },
+  "episode_index": 0,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        156,
+        156
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 53,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 65,
+      "left_motion_frames": 53,
+      "overlap_frames": 28,
+      "overlap_ratio_active": 0.5283018867924528,
+      "overlap_ratio_all": 0.4307692307692308,
+      "right_motion_frames": 28
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 984,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1207,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 984,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2077,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1207,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 225,
+      "end_physics_step": 3015,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2077,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 0,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 225,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2208268791437149,
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+      0.15499494969844818,
+      -0.6809068918228149,
+      -0.6979271173477173
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+      0.04856033995747566,
+      0.047468867152929306,
+      0.6974045634269714,
+      0.7134532928466797
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 1
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 0,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
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+      "physics_steps": 50,
+      "start_physics_step": 17498
+    },
+    {
+      "action_index": 191,
+      "end_physics_step": 17615,
+      "physics_steps": 67,
+      "start_physics_step": 17548
+    },
+    {
+      "action_index": 192,
+      "end_physics_step": 17665,
+      "physics_steps": 50,
+      "start_physics_step": 17615
+    },
+    {
+      "action_index": 193,
+      "end_physics_step": 17724,
+      "physics_steps": 59,
+      "start_physics_step": 17665
+    },
+    {
+      "action_index": 194,
+      "end_physics_step": 17797,
+      "physics_steps": 73,
+      "start_physics_step": 17724
+    },
+    {
+      "action_index": 195,
+      "end_physics_step": 17878,
+      "physics_steps": 81,
+      "start_physics_step": 17797
+    },
+    {
+      "action_index": 196,
+      "end_physics_step": 17964,
+      "physics_steps": 86,
+      "start_physics_step": 17878
+    },
+    {
+      "action_index": 197,
+      "end_physics_step": 18049,
+      "physics_steps": 85,
+      "start_physics_step": 17964
+    },
+    {
+      "action_index": 198,
+      "end_physics_step": 18123,
+      "physics_steps": 74,
+      "start_physics_step": 18049
+    },
+    {
+      "action_index": 199,
+      "end_physics_step": 18177,
+      "physics_steps": 54,
+      "start_physics_step": 18123
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 18227,
+      "physics_steps": 50,
+      "start_physics_step": 18177
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 18277,
+      "physics_steps": 50,
+      "start_physics_step": 18227
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 18327,
+      "physics_steps": 50,
+      "start_physics_step": 18277
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 18377,
+      "physics_steps": 50,
+      "start_physics_step": 18327
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 18427,
+      "physics_steps": 50,
+      "start_physics_step": 18377
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 18477,
+      "physics_steps": 50,
+      "start_physics_step": 18427
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 18527,
+      "physics_steps": 50,
+      "start_physics_step": 18477
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 18577,
+      "physics_steps": 50,
+      "start_physics_step": 18527
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18627,
+      "physics_steps": 50,
+      "start_physics_step": 18577
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 18677,
+      "physics_steps": 50,
+      "start_physics_step": 18627
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18727,
+      "physics_steps": 50,
+      "start_physics_step": 18677
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18777,
+      "physics_steps": 50,
+      "start_physics_step": 18727
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18827,
+      "physics_steps": 50,
+      "start_physics_step": 18777
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 18877,
+      "physics_steps": 50,
+      "start_physics_step": 18827
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 18927,
+      "physics_steps": 50,
+      "start_physics_step": 18877
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 18977,
+      "physics_steps": 50,
+      "start_physics_step": 18927
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 19009,
+      "physics_steps": 32,
+      "start_physics_step": 18977
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.952763831615448
+    ],
+    "left_shoe_pose": [
+      0.001527165062725544,
+      -0.16682370007038116,
+      0.6500857472419739,
+      0.5378351807594299,
+      0.47912415862083435,
+      -0.5024413466453552,
+      -0.4782530665397644
+    ],
+    "right_shoe_pose": [
+      -0.002175796777009964,
+      -0.09150530397891998,
+      0.6776125431060791,
+      -0.5048275589942932,
+      -0.4943016469478607,
+      0.49732574820518494,
+      0.5034701824188232
+    ]
+  },
+  "training_action_input_frames": 225,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.14470645957082898,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19009,
+  "training_actions_executed": 217,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode1.json b/place_dual_shoes/phase_trace/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e417d309ed0cf9153500be1fa81ac93d1a6d102
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode1.json
@@ -0,0 +1,1977 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 1,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 249,
+    "head_unique_frame_ratio": 0.963855421686747,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.9242974656249494e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 147.47473958333333,
+    "parallel_head_unique_frame_ratio": 0.963855421686747,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 187.64062934027777,
+      "right": 147.47473958333333
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.22366428946085448,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.22366428946085448
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.40471384611234595
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.413216497033782
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2285308058898408
+      }
+    },
+    "physics_steps_checked": 4288
+  },
+  "episode_index": 1,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 66,
+      "first_motion_frame": [
+        169,
+        169
+      ],
+      "frames": 81,
+      "left_motion_frames": 42,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6363636363636364,
+      "overlap_ratio_all": 0.5185185185185185,
+      "right_motion_frames": 66
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 63,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 77,
+      "left_motion_frames": 63,
+      "overlap_frames": 39,
+      "overlap_ratio_active": 0.6190476190476191,
+      "overlap_ratio_all": 0.5064935064935064,
+      "right_motion_frames": 39
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 981,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1227,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 981,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 168,
+      "end_physics_step": 2277,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1227,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 249,
+      "end_physics_step": 3388,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 168,
+      "start_physics_step": 2277,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 1,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 249,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2137562334537506,
+      -0.02289975807070732,
+      0.6398221254348755,
+      0.4543066918849945,
+      0.45085182785987854,
+      0.5433792471885681,
+      0.5432100892066956
+    ],
+    "right_shoe_pose": [
+      0.2802801728248596,
+      -0.086089588701725,
+      0.6398223042488098,
+      0.3636966943740845,
+      0.36026281118392944,
+      0.6072414517402649,
+      0.6076127886772156
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 2
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 1,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+      "action_index": 227,
+      "end_physics_step": 22502,
+      "physics_steps": 50,
+      "start_physics_step": 22452
+    },
+    {
+      "action_index": 228,
+      "end_physics_step": 22552,
+      "physics_steps": 50,
+      "start_physics_step": 22502
+    },
+    {
+      "action_index": 229,
+      "end_physics_step": 22602,
+      "physics_steps": 50,
+      "start_physics_step": 22552
+    },
+    {
+      "action_index": 230,
+      "end_physics_step": 22652,
+      "physics_steps": 50,
+      "start_physics_step": 22602
+    },
+    {
+      "action_index": 231,
+      "end_physics_step": 22702,
+      "physics_steps": 50,
+      "start_physics_step": 22652
+    },
+    {
+      "action_index": 232,
+      "end_physics_step": 22752,
+      "physics_steps": 50,
+      "start_physics_step": 22702
+    },
+    {
+      "action_index": 233,
+      "end_physics_step": 22802,
+      "physics_steps": 50,
+      "start_physics_step": 22752
+    },
+    {
+      "action_index": 234,
+      "end_physics_step": 22852,
+      "physics_steps": 50,
+      "start_physics_step": 22802
+    },
+    {
+      "action_index": 235,
+      "end_physics_step": 22902,
+      "physics_steps": 50,
+      "start_physics_step": 22852
+    },
+    {
+      "action_index": 236,
+      "end_physics_step": 22952,
+      "physics_steps": 50,
+      "start_physics_step": 22902
+    },
+    {
+      "action_index": 237,
+      "end_physics_step": 23002,
+      "physics_steps": 50,
+      "start_physics_step": 22952
+    },
+    {
+      "action_index": 238,
+      "end_physics_step": 23052,
+      "physics_steps": 50,
+      "start_physics_step": 23002
+    },
+    {
+      "action_index": 239,
+      "end_physics_step": 23102,
+      "physics_steps": 50,
+      "start_physics_step": 23052
+    },
+    {
+      "action_index": 240,
+      "end_physics_step": 23152,
+      "physics_steps": 50,
+      "start_physics_step": 23102
+    },
+    {
+      "action_index": 241,
+      "end_physics_step": 23202,
+      "physics_steps": 50,
+      "start_physics_step": 23152
+    },
+    {
+      "action_index": 242,
+      "end_physics_step": 23252,
+      "physics_steps": 50,
+      "start_physics_step": 23202
+    },
+    {
+      "action_index": 243,
+      "end_physics_step": 23302,
+      "physics_steps": 50,
+      "start_physics_step": 23252
+    },
+    {
+      "action_index": 244,
+      "end_physics_step": 23307,
+      "physics_steps": 5,
+      "start_physics_step": 23302
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      0.003541901707649231,
+      -0.17728985846042633,
+      0.6505520939826965,
+      -0.5025045275688171,
+      -0.4515085816383362,
+      0.5321935415267944,
+      0.5102934241294861
+    ],
+    "right_shoe_pose": [
+      -0.01790935918688774,
+      -0.10161196440458298,
+      0.6529451012611389,
+      -0.45910531282424927,
+      -0.4497188627719879,
+      0.5127893090248108,
+      0.5692298412322998
+    ]
+  },
+  "training_action_input_frames": 249,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.22315344820198457,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 23307,
+  "training_actions_executed": 245,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode10.json b/place_dual_shoes/phase_trace/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f62d7020ddf1d77c34c7729a1cc9fc390d8102e
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode10.json
@@ -0,0 +1,1917 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 10,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 236,
+    "head_unique_frame_ratio": 0.961864406779661,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.1854775334758685e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 174.8185525173611,
+    "parallel_head_unique_frame_ratio": 0.961864406779661,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 174.8185525173611,
+      "right": 176.65629991319446
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2096454274959294,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2096454274959294
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41523041981465264
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4497886703739126
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21395008877240923
+      }
+    },
+    "physics_steps_checked": 4100
+  },
+  "episode_index": 10,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        167,
+        167
+      ],
+      "frames": 70,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5535714285714286,
+      "overlap_ratio_all": 0.44285714285714284,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8055555555555556,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 61,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 76,
+      "left_motion_frames": 61,
+      "overlap_frames": 37,
+      "overlap_ratio_active": 0.6065573770491803,
+      "overlap_ratio_all": 0.4868421052631579,
+      "right_motion_frames": 37
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 987,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1220,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 987,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 166,
+      "end_physics_step": 2256,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1220,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 236,
+      "end_physics_step": 3200,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 166,
+      "start_physics_step": 2256,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 10,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24980413913726807,
+      -0.017361417412757874,
+      0.639977753162384,
+      0.35371774435043335,
+      0.3531588017940521,
+      0.6120777130126953,
+      0.612799882888794
+    ],
+    "right_shoe_pose": [
+      0.2774684429168701,
+      -0.08251672238111496,
+      0.6399784088134766,
+      0.5147120952606201,
+      0.514106273651123,
+      -0.48482030630111694,
+      -0.48550546169281006
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 4
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 15,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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+      "end_physics_step": 21242,
+      "physics_steps": 25,
+      "start_physics_step": 21217
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      -0.0026066056452691555,
+      -0.17630408704280853,
+      0.6530438661575317,
+      -0.4717816412448883,
+      -0.46766406297683716,
+      0.5408561825752258,
+      0.5159332156181335
+    ],
+    "right_shoe_pose": [
+      -0.019805561751127243,
+      -0.09809431433677673,
+      0.6580316424369812,
+      0.4916638731956482,
+      0.4570659101009369,
+      -0.47387421131134033,
+      -0.5699127912521362
+    ]
+  },
+  "training_action_input_frames": 236,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21293771195872474,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 21242,
+  "training_actions_executed": 235,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode11.json b/place_dual_shoes/phase_trace/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31f5552a00b7deed6ce7ad6656ef2f85ee2b85f
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode11.json
@@ -0,0 +1,1761 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 11,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 217,
+    "head_unique_frame_ratio": 0.9585253456221198,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.266375829870995e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 146.0320876736111,
+    "parallel_head_unique_frame_ratio": 0.9585253456221198,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 146.0320876736111,
+      "right": 195.55915364583333
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1941535288451624,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1945499985961218
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41670225967010227
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4804227174302004
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1941535288451624
+      }
+    },
+    "physics_steps_checked": 3814
+  },
+  "episode_index": 11,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 55,
+      "first_motion_frame": [
+        150,
+        150
+      ],
+      "frames": 68,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5636363636363636,
+      "overlap_ratio_all": 0.45588235294117646,
+      "right_motion_frames": 55
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 71,
+      "left_motion_frames": 56,
+      "overlap_frames": 56,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7887323943661971,
+      "right_motion_frames": 56
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        72,
+        72
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 47,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 60,
+      "left_motion_frames": 47,
+      "overlap_frames": 23,
+      "overlap_ratio_active": 0.48936170212765956,
+      "overlap_ratio_all": 0.38333333333333336,
+      "right_motion_frames": 23
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 71,
+      "end_physics_step": 966,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1204,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 71,
+      "start_physics_step": 966,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 149,
+      "end_physics_step": 1990,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1204,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 217,
+      "end_physics_step": 2914,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 149,
+      "start_physics_step": 1990,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 11,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 217,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2888329327106476,
+      -0.05534592270851135,
+      0.6400042176246643,
+      0.41835296154022217,
+      0.4086248278617859,
+      -0.5668033361434937,
+      -0.580293595790863
+    ],
+    "right_shoe_pose": [
+      0.2699742913246155,
+      -0.0471392497420311,
+      0.640000581741333,
+      0.4159421920776367,
+      0.40643030405044556,
+      -0.5685540437698364,
+      -0.5818530321121216
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 1
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 18,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "b7a9979633d588c2292cb14f7b53761d64bb8ccb7e045b47533f80d3c9b8d6b0",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
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+}
diff --git a/place_dual_shoes/phase_trace/episode12.json b/place_dual_shoes/phase_trace/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24dfaa05a0c14e448715d239bc0052368e61f01
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode12.json
@@ -0,0 +1,1839 @@
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+        "right_shoe"
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+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1197,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 970,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2067,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1197,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 224,
+      "end_physics_step": 3000,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2067,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 12,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.27841004729270935,
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+      -0.6594796776771545,
+      -0.6650921702384949
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+      0.654771625995636,
+      0.6483535170555115,
+      -0.27356112003326416,
+      -0.2758196294307709
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 7
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 19,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    {
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+      "physics_steps": 50,
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+    {
+      "action_index": 218,
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+      "physics_steps": 50,
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+    },
+    {
+      "action_index": 219,
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+      "physics_steps": 50,
+      "start_physics_step": 18780
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 18880,
+      "physics_steps": 50,
+      "start_physics_step": 18830
+    },
+    {
+      "action_index": 221,
+      "end_physics_step": 18881,
+      "physics_steps": 1,
+      "start_physics_step": 18880
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      0.0068697379902005196,
+      -0.17541544139385223,
+      0.6505148410797119,
+      0.510413646697998,
+      0.4493838846683502,
+      -0.5247605443000793,
+      -0.5120143294334412
+    ],
+    "right_shoe_pose": [
+      -0.0024892000947147608,
+      -0.0943346917629242,
+      0.6535485982894897,
+      0.5178421139717102,
+      0.43044620752334595,
+      -0.5314579606056213,
+      -0.5139147639274597
+    ]
+  },
+  "training_action_input_frames": 224,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.15191175837120127,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18881,
+  "training_actions_executed": 222,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode13.json b/place_dual_shoes/phase_trace/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..367cc0042519aa51f02ea21cafac84923c92e58e
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode13.json
@@ -0,0 +1,1893 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 13,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 232,
+    "head_unique_frame_ratio": 0.9568965517241379,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.378669168914051e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 139.10143880208335,
+    "parallel_head_unique_frame_ratio": 0.9568965517241379,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
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+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 152.18333984375,
+      "right": 139.10143880208335
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2170802959471137,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2170802959471137
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.36915408749857126
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.39174620783662223
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.25297452540455984
+      }
+    },
+    "physics_steps_checked": 4047
+  },
+  "episode_index": 13,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 66,
+      "first_motion_frame": [
+        154,
+        154
+      ],
+      "frames": 79,
+      "left_motion_frames": 41,
+      "overlap_frames": 41,
+      "overlap_ratio_active": 0.6212121212121212,
+      "overlap_ratio_all": 0.5189873417721519,
+      "right_motion_frames": 66
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 60,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 75,
+      "left_motion_frames": 60,
+      "overlap_frames": 60,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8,
+      "right_motion_frames": 60
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        76,
+        76
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 49,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 60,
+      "left_motion_frames": 49,
+      "overlap_frames": 25,
+      "overlap_ratio_active": 0.5102040816326531,
+      "overlap_ratio_all": 0.4166666666666667,
+      "right_motion_frames": 25
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 75,
+      "end_physics_step": 1012,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1247,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 75,
+      "start_physics_step": 1012,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 153,
+      "end_physics_step": 2054,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1247,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 232,
+      "end_physics_step": 3147,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 153,
+      "start_physics_step": 2054,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 13,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 232,
+  "scene_identity": {
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+  "schema_version": 5,
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+  "source_commits": {
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+    {
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+    {
+      "action_index": 223,
+      "end_physics_step": 20156,
+      "physics_steps": 50,
+      "start_physics_step": 20106
+    },
+    {
+      "action_index": 224,
+      "end_physics_step": 20206,
+      "physics_steps": 50,
+      "start_physics_step": 20156
+    },
+    {
+      "action_index": 225,
+      "end_physics_step": 20256,
+      "physics_steps": 50,
+      "start_physics_step": 20206
+    },
+    {
+      "action_index": 226,
+      "end_physics_step": 20306,
+      "physics_steps": 50,
+      "start_physics_step": 20256
+    },
+    {
+      "action_index": 227,
+      "end_physics_step": 20356,
+      "physics_steps": 50,
+      "start_physics_step": 20306
+    },
+    {
+      "action_index": 228,
+      "end_physics_step": 20406,
+      "physics_steps": 50,
+      "start_physics_step": 20356
+    },
+    {
+      "action_index": 229,
+      "end_physics_step": 20456,
+      "physics_steps": 50,
+      "start_physics_step": 20406
+    },
+    {
+      "action_index": 230,
+      "end_physics_step": 20476,
+      "physics_steps": 20,
+      "start_physics_step": 20456
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      -0.01441197283565998,
+      -0.1769091635942459,
+      0.6511713266372681,
+      0.48488861322402954,
+      0.4470851421356201,
+      -0.5514423847198486,
+      -0.5107928514480591
+    ],
+    "right_shoe_pose": [
+      -0.003570001572370529,
+      -0.09170698374509811,
+      0.6560213565826416,
+      -0.4363425374031067,
+      -0.5571703910827637,
+      0.43183574080467224,
+      0.5591818690299988
+    ]
+  },
+  "training_action_input_frames": 232,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21709697398383992,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20476,
+  "training_actions_executed": 231,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode14.json b/place_dual_shoes/phase_trace/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..45621434720a00d51babac046eee9216ac288ec7
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode14.json
@@ -0,0 +1,1743 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 14,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 214,
+    "head_unique_frame_ratio": 0.9579439252336449,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.41489744207324e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 151.41190538194445,
+    "parallel_head_unique_frame_ratio": 0.9579439252336449,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 151.41190538194445,
+      "right": 202.17580729166667
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.12278265316700135,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.12290186897743155
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2822573298301529
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.295908322498433
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.12278265316700135
+      }
+    },
+    "physics_steps_checked": 3767
+  },
+  "episode_index": 14,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 55,
+      "first_motion_frame": [
+        145,
+        145
+      ],
+      "frames": 70,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5636363636363636,
+      "overlap_ratio_all": 0.44285714285714284,
+      "right_motion_frames": 55
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 71,
+      "left_motion_frames": 56,
+      "overlap_frames": 56,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7887323943661971,
+      "right_motion_frames": 56
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        72,
+        72
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 43,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 55,
+      "left_motion_frames": 43,
+      "overlap_frames": 19,
+      "overlap_ratio_active": 0.4418604651162791,
+      "overlap_ratio_all": 0.34545454545454546,
+      "right_motion_frames": 19
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 71,
+      "end_physics_step": 972,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1206,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 71,
+      "start_physics_step": 972,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 144,
+      "end_physics_step": 1931,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1206,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 214,
+      "end_physics_step": 2867,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 144,
+      "start_physics_step": 1931,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 14,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 214,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2368023693561554,
+      -0.047713637351989746,
+      0.6400352120399475,
+      0.6455453038215637,
+      0.6282797455787659,
+      -0.30284547805786133,
+      -0.31115978956222534
+    ],
+    "right_shoe_pose": [
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+}
diff --git a/place_dual_shoes/phase_trace/episode15.json b/place_dual_shoes/phase_trace/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..a362d27331bb08c1981e91944c7ae9e4557a1285
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode15.json
@@ -0,0 +1,1821 @@
+{
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+    "minimum_wrist_median_luminance": 200.02907552083335,
+    "parallel_head_unique_frame_ratio": 0.960352422907489,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 208.8599045138889,
+      "right": 200.02907552083335
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.185499870439019,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.185499870439019
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.38799757944800684
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3962138364750023
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18594459135120994
+      }
+    },
+    "physics_steps_checked": 3958
+  },
+  "episode_index": 15,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        158,
+        158
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 60,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 60,
+      "overlap_frames": 60,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8108108108108109,
+      "right_motion_frames": 60
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 51,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 64,
+      "left_motion_frames": 51,
+      "overlap_frames": 27,
+      "overlap_ratio_active": 0.5294117647058824,
+      "overlap_ratio_all": 0.421875,
+      "right_motion_frames": 27
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1018,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1262,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1018,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2119,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1262,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 227,
+      "end_physics_step": 3058,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2119,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 15,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 227,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2536713480949402,
+      -0.08392378687858582,
+      0.6397119760513306,
+      0.21667402982711792,
+      0.2134130895137787,
+      -0.6663438677787781,
+      -0.6808034181594849
+    ],
+    "right_shoe_pose": [
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+      0.024638626724481583,
+      0.6397070288658142,
+      0.5136767625808716,
+      0.5041679739952087,
+      -0.48593607544898987,
+      -0.49579939246177673
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 6
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 33,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
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+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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+}
diff --git a/place_dual_shoes/phase_trace/episode16.json b/place_dual_shoes/phase_trace/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..61217ce7909372f81a57e95a31f30ba18979bd0c
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode16.json
@@ -0,0 +1,1875 @@
+{
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+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 999,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 166,
+      "end_physics_step": 2262,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1223,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 236,
+      "end_physics_step": 3216,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 166,
+      "start_physics_step": 2262,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 16,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 5
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 34,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+    {
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+      "start_physics_step": 20412
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+    {
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+      "physics_steps": 50,
+      "start_physics_step": 20462
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+    {
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+    {
+      "action_index": 227,
+      "end_physics_step": 20577,
+      "physics_steps": 15,
+      "start_physics_step": 20562
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9271356761455536
+    ],
+    "left_shoe_pose": [
+      -0.0032099364325404167,
+      -0.16869919002056122,
+      0.6501765847206116,
+      -0.5355654954910278,
+      -0.45213884115219116,
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+      0.5040807723999023
+    ],
+    "right_shoe_pose": [
+      -0.0026664051692932844,
+      -0.09236399084329605,
+      0.6793793439865112,
+      -0.5100405216217041,
+      -0.4853177070617676,
+      0.4941588044166565,
+      0.5100319981575012
+    ]
+  },
+  "training_action_input_frames": 236,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.17018549913659373,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20577,
+  "training_actions_executed": 228,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode17.json b/place_dual_shoes/phase_trace/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..66cf14a5cee779395b2917f0ace9cb3c8c584ecb
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode17.json
@@ -0,0 +1,1785 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 17,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 221,
+    "head_unique_frame_ratio": 0.9502262443438914,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.2430242480916434e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 92.21969618055556,
+    "parallel_head_unique_frame_ratio": 0.9502262443438914,
+    "preset": {
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+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
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+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
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+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 133.61467881944444,
+      "right": 92.21969618055556
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.17409594565186381,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17443545092772061
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.36471971016302673
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.37971765992681716
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17409594565186381
+      }
+    },
+    "physics_steps_checked": 3853
+  },
+  "episode_index": 17,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        152,
+        152
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 60,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 75,
+      "left_motion_frames": 60,
+      "overlap_frames": 60,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8,
+      "right_motion_frames": 60
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        76,
+        76
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 45,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 58,
+      "left_motion_frames": 45,
+      "overlap_frames": 21,
+      "overlap_ratio_active": 0.4666666666666667,
+      "overlap_ratio_all": 0.3620689655172414,
+      "right_motion_frames": 21
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 75,
+      "end_physics_step": 1016,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1250,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 75,
+      "start_physics_step": 1016,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 151,
+      "end_physics_step": 2009,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1250,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 221,
+      "end_physics_step": 2953,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 151,
+      "start_physics_step": 2009,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 17,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 221,
+  "scene_identity": {
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+  "schema_version": 5,
+  "seed": 31,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+    {
+      "action_index": 198,
+      "end_physics_step": 17309,
+      "physics_steps": 50,
+      "start_physics_step": 17259
+    },
+    {
+      "action_index": 199,
+      "end_physics_step": 17359,
+      "physics_steps": 50,
+      "start_physics_step": 17309
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 17409,
+      "physics_steps": 50,
+      "start_physics_step": 17359
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 17459,
+      "physics_steps": 50,
+      "start_physics_step": 17409
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 17509,
+      "physics_steps": 50,
+      "start_physics_step": 17459
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 17559,
+      "physics_steps": 50,
+      "start_physics_step": 17509
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 17609,
+      "physics_steps": 50,
+      "start_physics_step": 17559
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 17659,
+      "physics_steps": 50,
+      "start_physics_step": 17609
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 17709,
+      "physics_steps": 50,
+      "start_physics_step": 17659
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 17759,
+      "physics_steps": 50,
+      "start_physics_step": 17709
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 17809,
+      "physics_steps": 50,
+      "start_physics_step": 17759
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 17859,
+      "physics_steps": 50,
+      "start_physics_step": 17809
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 17909,
+      "physics_steps": 50,
+      "start_physics_step": 17859
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 17959,
+      "physics_steps": 50,
+      "start_physics_step": 17909
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 17971,
+      "physics_steps": 12,
+      "start_physics_step": 17959
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9226130604743957
+    ],
+    "left_shoe_pose": [
+      0.004384640604257584,
+      -0.1673870086669922,
+      0.6500802636146545,
+      0.5238816142082214,
+      0.4741225838661194,
+      -0.5177936553955078,
+      -0.48233336210250854
+    ],
+    "right_shoe_pose": [
+      0.00032265903428196907,
+      -0.09565721452236176,
+      0.6779302358627319,
+      0.5091331005096436,
+      0.4951696991920471,
+      -0.49343881011009216,
+      -0.5021041631698608
+    ]
+  },
+  "training_action_input_frames": 221,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.17403246026340188,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17971,
+  "training_actions_executed": 213,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode18.json b/place_dual_shoes/phase_trace/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b9fd9d878a1ecac026338c6def9e558311dc43
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode18.json
@@ -0,0 +1,1809 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 18,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 223,
+    "head_unique_frame_ratio": 0.9596412556053812,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.681650611626509e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 158.4186501736111,
+    "parallel_head_unique_frame_ratio": 0.9596412556053812,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 179.37922309027778,
+      "right": 158.4186501736111
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.20342312336526402,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20407529865809865
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.34726144998878816
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.35622330211119696
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2347648107513641
+      }
+    },
+    "physics_steps_checked": 3902
+  },
+  "episode_index": 18,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        144,
+        144
+      ],
+      "frames": 80,
+      "left_motion_frames": 42,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6461538461538462,
+      "overlap_ratio_all": 0.525,
+      "right_motion_frames": 65
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8055555555555556,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 43,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 54,
+      "left_motion_frames": 43,
+      "overlap_frames": 19,
+      "overlap_ratio_active": 0.4418604651162791,
+      "overlap_ratio_all": 0.35185185185185186,
+      "right_motion_frames": 19
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 981,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1203,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 981,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 143,
+      "end_physics_step": 1915,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1203,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 223,
+      "end_physics_step": 3002,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 143,
+      "start_physics_step": 1915,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 18,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 223,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.21571184694766998,
+      -0.0384523868560791,
+      0.6389191150665283,
+      0.669296383857727,
+      0.6778097748756409,
+      -0.22173084318637848,
+      -0.20845073461532593
+    ],
+    "right_shoe_pose": [
+      0.28643032908439636,
+      0.02208838053047657,
+      0.6389645338058472,
+      0.6840016841888428,
+      0.6923890709877014,
+      0.17007644474506378,
+      0.1543155163526535
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 9
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 40,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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diff --git a/place_dual_shoes/phase_trace/episode19.json b/place_dual_shoes/phase_trace/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87fe67364df06a1dd2df299fb354b70f6ced74f
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode19.json
@@ -0,0 +1,1887 @@
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+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 126.25380642361111,
+      "right": 101.71803819444445
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1644850928474725,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16575924579796641
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.37863824724009987
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3920958493416295
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1644850928474725
+      }
+    },
+    "physics_steps_checked": 4091
+  },
+  "episode_index": 19,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 66,
+      "first_motion_frame": [
+        156,
+        156
+      ],
+      "frames": 80,
+      "left_motion_frames": 42,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6363636363636364,
+      "overlap_ratio_all": 0.525,
+      "right_motion_frames": 66
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8055555555555556,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 53,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 65,
+      "left_motion_frames": 53,
+      "overlap_frames": 29,
+      "overlap_ratio_active": 0.5471698113207547,
+      "overlap_ratio_all": 0.4461538461538462,
+      "right_motion_frames": 29
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 987,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1226,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 987,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2096,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1226,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 235,
+      "end_physics_step": 3191,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2096,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 19,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 235,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.269415020942688,
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+      0.6399676203727722,
+      0.6682264804840088,
+      0.6671373248100281,
+      0.2326098084449768,
+      0.2330106496810913
+    ],
+    "right_shoe_pose": [
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+      -0.08567999303340912,
+      0.6399675607681274,
+      0.3673061430454254,
+      0.3667270839214325,
+      0.6038927435874939,
+      0.6049057245254517
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 37,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+  "task_name": "place_dual_shoes",
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+}
diff --git a/place_dual_shoes/phase_trace/episode2.json b/place_dual_shoes/phase_trace/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4f2e351b2411d95e05763a2129ea30043ee231
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode2.json
@@ -0,0 +1,1923 @@
+{
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+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1222,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 979,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 175,
+      "end_physics_step": 2364,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1222,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 244,
+      "end_physics_step": 3303,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 175,
+      "start_physics_step": 2364,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 2,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 244,
+  "scene_identity": {
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 4,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+}
diff --git a/place_dual_shoes/phase_trace/episode20.json b/place_dual_shoes/phase_trace/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..7974362ba3b04dd1a45a83941ba7c15cabcfe5da
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode20.json
@@ -0,0 +1,1791 @@
+{
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+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 222,
+  "scene_identity": {
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+    {
+      "action_index": 186,
+      "end_physics_step": 16799,
+      "physics_steps": 50,
+      "start_physics_step": 16749
+    },
+    {
+      "action_index": 187,
+      "end_physics_step": 16849,
+      "physics_steps": 50,
+      "start_physics_step": 16799
+    },
+    {
+      "action_index": 188,
+      "end_physics_step": 16917,
+      "physics_steps": 68,
+      "start_physics_step": 16849
+    },
+    {
+      "action_index": 189,
+      "end_physics_step": 16967,
+      "physics_steps": 50,
+      "start_physics_step": 16917
+    },
+    {
+      "action_index": 190,
+      "end_physics_step": 17026,
+      "physics_steps": 59,
+      "start_physics_step": 16967
+    },
+    {
+      "action_index": 191,
+      "end_physics_step": 17100,
+      "physics_steps": 74,
+      "start_physics_step": 17026
+    },
+    {
+      "action_index": 192,
+      "end_physics_step": 17181,
+      "physics_steps": 81,
+      "start_physics_step": 17100
+    },
+    {
+      "action_index": 193,
+      "end_physics_step": 17268,
+      "physics_steps": 87,
+      "start_physics_step": 17181
+    },
+    {
+      "action_index": 194,
+      "end_physics_step": 17354,
+      "physics_steps": 86,
+      "start_physics_step": 17268
+    },
+    {
+      "action_index": 195,
+      "end_physics_step": 17428,
+      "physics_steps": 74,
+      "start_physics_step": 17354
+    },
+    {
+      "action_index": 196,
+      "end_physics_step": 17482,
+      "physics_steps": 54,
+      "start_physics_step": 17428
+    },
+    {
+      "action_index": 197,
+      "end_physics_step": 17532,
+      "physics_steps": 50,
+      "start_physics_step": 17482
+    },
+    {
+      "action_index": 198,
+      "end_physics_step": 17582,
+      "physics_steps": 50,
+      "start_physics_step": 17532
+    },
+    {
+      "action_index": 199,
+      "end_physics_step": 17632,
+      "physics_steps": 50,
+      "start_physics_step": 17582
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 17682,
+      "physics_steps": 50,
+      "start_physics_step": 17632
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 17732,
+      "physics_steps": 50,
+      "start_physics_step": 17682
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 17782,
+      "physics_steps": 50,
+      "start_physics_step": 17732
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 17832,
+      "physics_steps": 50,
+      "start_physics_step": 17782
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 17882,
+      "physics_steps": 50,
+      "start_physics_step": 17832
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 17932,
+      "physics_steps": 50,
+      "start_physics_step": 17882
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 17982,
+      "physics_steps": 50,
+      "start_physics_step": 17932
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 18032,
+      "physics_steps": 50,
+      "start_physics_step": 17982
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18082,
+      "physics_steps": 50,
+      "start_physics_step": 18032
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 18132,
+      "physics_steps": 50,
+      "start_physics_step": 18082
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18182,
+      "physics_steps": 50,
+      "start_physics_step": 18132
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18232,
+      "physics_steps": 50,
+      "start_physics_step": 18182
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18282,
+      "physics_steps": 50,
+      "start_physics_step": 18232
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 18322,
+      "physics_steps": 40,
+      "start_physics_step": 18282
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9648241400718689
+    ],
+    "left_shoe_pose": [
+      0.002347361296415329,
+      -0.17081834375858307,
+      0.6506184935569763,
+      0.5261563658714294,
+      0.4651574492454529,
+      -0.5183762907981873,
+      -0.48792821168899536
+    ],
+    "right_shoe_pose": [
+      -0.0004903310909867287,
+      -0.0956338495016098,
+      0.6796114444732666,
+      0.5060961842536926,
+      0.4704582393169403,
+      -0.5136865973472595,
+      -0.5085881948471069
+    ]
+  },
+  "training_action_input_frames": 222,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.17980167965036745,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18322,
+  "training_actions_executed": 214,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode21.json b/place_dual_shoes/phase_trace/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8989c4757a1825a5d2e7676002ce025a2690b3
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode21.json
@@ -0,0 +1,1851 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 21,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 233,
+    "head_unique_frame_ratio": 0.9570815450643777,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.159374526220173e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 98.62095486111112,
+    "parallel_head_unique_frame_ratio": 0.9570815450643777,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 175.93444878472224,
+      "right": 98.62095486111112
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.15674082332735786,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.15675793521208542
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.296291652244002
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.308242683946114
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.15674082332735786
+      }
+    },
+    "physics_steps_checked": 4037
+  },
+  "episode_index": 21,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 55,
+      "first_motion_frame": [
+        165,
+        165
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5818181818181818,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 55
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 60,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 74,
+      "left_motion_frames": 60,
+      "overlap_frames": 36,
+      "overlap_ratio_active": 0.6,
+      "overlap_ratio_all": 0.4864864864864865,
+      "right_motion_frames": 36
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 972,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1203,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 972,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 164,
+      "end_physics_step": 2204,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1203,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 233,
+      "end_physics_step": 3137,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 164,
+      "start_physics_step": 2204,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 21,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 233,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20712962746620178,
+      -0.0205894336104393,
+      0.6399673223495483,
+      0.02128991298377514,
+      0.02127775177359581,
+      0.7062045931816101,
+      0.7073676586151123
+    ],
+    "right_shoe_pose": [
+      0.22476422786712646,
+      -0.048306677490472794,
+      0.6399677395820618,
+      0.5919093489646912,
+      0.5909490585327148,
+      0.3872453570365906,
+      0.38789618015289307
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 39,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "left_shoe_pose": [
+      0.000750269740819931,
+      -0.16576582193374634,
+      0.6500794887542725,
+      -0.5275276303291321,
+      -0.48051917552948,
+      0.5113840103149414,
+      0.4788552522659302
+    ],
+    "right_shoe_pose": [
+      -0.0001613872591406107,
+      -0.09458901733160019,
+      0.6795270442962646,
+      0.4878855347633362,
+      0.5110174417495728,
+      -0.5123673677444458,
+      -0.4881685674190521
+    ]
+  },
+  "training_action_input_frames": 233,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.15557526450580114,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19835,
+  "training_actions_executed": 224,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode22.json b/place_dual_shoes/phase_trace/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7cf324df77c3f5b8f9c14defaa570208392b49
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode22.json
@@ -0,0 +1,1761 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 22,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 216,
+    "head_unique_frame_ratio": 0.9583333333333334,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.607682019264203e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 153.44866536458335,
+    "parallel_head_unique_frame_ratio": 0.9583333333333334,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 153.44866536458335,
+      "right": 164.38399522569443
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.14945479378108054,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1499037540034205
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.40260464578876104
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.40370247408191506
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.14945479378108054
+      }
+    },
+    "physics_steps_checked": 3797
+  },
+  "episode_index": 22,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        148,
+        148
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 45,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 56,
+      "left_motion_frames": 45,
+      "overlap_frames": 20,
+      "overlap_ratio_active": 0.4444444444444444,
+      "overlap_ratio_all": 0.35714285714285715,
+      "right_motion_frames": 20
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1223,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 147,
+      "end_physics_step": 1963,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1223,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2897,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 147,
+      "start_physics_step": 1963,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 22,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2539732754230499,
+      0.004508156795054674,
+      0.6389060020446777,
+      0.4867326319217682,
+      0.4785190522670746,
+      -0.5291499495506287,
+      -0.5040946006774902
+    ],
+    "right_shoe_pose": [
+      0.21331219375133514,
+      -0.04054322838783264,
+      0.6389709115028381,
+      0.5920152068138123,
+      0.5931865572929382,
+      0.39554694294929504,
+      0.37575289607048035
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 9
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 41,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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+}
diff --git a/place_dual_shoes/phase_trace/episode23.json b/place_dual_shoes/phase_trace/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..42be409e115b7e6a9080fea9f66cd0e600c2f788
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode23.json
@@ -0,0 +1,2019 @@
+{
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+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 78,
+      "start_physics_step": 1062,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 180,
+      "end_physics_step": 2447,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 95,
+      "start_physics_step": 1282,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 262,
+      "end_physics_step": 3563,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 180,
+      "start_physics_step": 2447,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 23,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 262,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23486806452274323,
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+      0.5234794616699219,
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+      -0.10484109818935394,
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 0
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 48,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+}
diff --git a/place_dual_shoes/phase_trace/episode24.json b/place_dual_shoes/phase_trace/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48f3fe231cf411b7f74b6820412afe2faf88aa2
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode24.json
@@ -0,0 +1,1947 @@
+{
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+      "semantic_phase": "dual_lift",
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+      "start_physics_step": 984,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 162,
+      "end_physics_step": 2185,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1225,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 244,
+      "end_physics_step": 3317,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 162,
+      "start_physics_step": 2185,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 24,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 244,
+  "scene_identity": {
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+      0.5,
+      -0.5,
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+    "shoe_id": 2
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 43,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
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+}
diff --git a/place_dual_shoes/phase_trace/episode25.json b/place_dual_shoes/phase_trace/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..621f1682a61ac7ff11c18588ca561d3ef9fd56c4
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode25.json
@@ -0,0 +1,1767 @@
+{
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+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 218,
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+    {
+      "action_index": 186,
+      "end_physics_step": 16120,
+      "physics_steps": 58,
+      "start_physics_step": 16062
+    },
+    {
+      "action_index": 187,
+      "end_physics_step": 16192,
+      "physics_steps": 72,
+      "start_physics_step": 16120
+    },
+    {
+      "action_index": 188,
+      "end_physics_step": 16273,
+      "physics_steps": 81,
+      "start_physics_step": 16192
+    },
+    {
+      "action_index": 189,
+      "end_physics_step": 16361,
+      "physics_steps": 88,
+      "start_physics_step": 16273
+    },
+    {
+      "action_index": 190,
+      "end_physics_step": 16450,
+      "physics_steps": 89,
+      "start_physics_step": 16361
+    },
+    {
+      "action_index": 191,
+      "end_physics_step": 16529,
+      "physics_steps": 79,
+      "start_physics_step": 16450
+    },
+    {
+      "action_index": 192,
+      "end_physics_step": 16589,
+      "physics_steps": 60,
+      "start_physics_step": 16529
+    },
+    {
+      "action_index": 193,
+      "end_physics_step": 16639,
+      "physics_steps": 50,
+      "start_physics_step": 16589
+    },
+    {
+      "action_index": 194,
+      "end_physics_step": 16689,
+      "physics_steps": 50,
+      "start_physics_step": 16639
+    },
+    {
+      "action_index": 195,
+      "end_physics_step": 16739,
+      "physics_steps": 50,
+      "start_physics_step": 16689
+    },
+    {
+      "action_index": 196,
+      "end_physics_step": 16789,
+      "physics_steps": 50,
+      "start_physics_step": 16739
+    },
+    {
+      "action_index": 197,
+      "end_physics_step": 16839,
+      "physics_steps": 50,
+      "start_physics_step": 16789
+    },
+    {
+      "action_index": 198,
+      "end_physics_step": 16889,
+      "physics_steps": 50,
+      "start_physics_step": 16839
+    },
+    {
+      "action_index": 199,
+      "end_physics_step": 16939,
+      "physics_steps": 50,
+      "start_physics_step": 16889
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 16989,
+      "physics_steps": 50,
+      "start_physics_step": 16939
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 17039,
+      "physics_steps": 50,
+      "start_physics_step": 16989
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 17089,
+      "physics_steps": 50,
+      "start_physics_step": 17039
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 17139,
+      "physics_steps": 50,
+      "start_physics_step": 17089
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 17189,
+      "physics_steps": 50,
+      "start_physics_step": 17139
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 17239,
+      "physics_steps": 50,
+      "start_physics_step": 17189
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 17289,
+      "physics_steps": 50,
+      "start_physics_step": 17239
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 17339,
+      "physics_steps": 50,
+      "start_physics_step": 17289
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 17389,
+      "physics_steps": 50,
+      "start_physics_step": 17339
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 17394,
+      "physics_steps": 5,
+      "start_physics_step": 17389
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9120602905750275
+    ],
+    "left_shoe_pose": [
+      -0.0012777387164533138,
+      -0.16674359142780304,
+      0.6500144600868225,
+      0.5386204123497009,
+      0.45608699321746826,
+      -0.5019491314888,
+      -0.4999198615550995
+    ],
+    "right_shoe_pose": [
+      -0.0043773651123046875,
+      -0.09131981432437897,
+      0.6791218519210815,
+      -0.5127630233764648,
+      -0.49098318815231323,
+      0.48402872681617737,
+      0.5115914940834045
+    ]
+  },
+  "training_action_input_frames": 218,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.19480628920310403,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17394,
+  "training_actions_executed": 210,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode26.json b/place_dual_shoes/phase_trace/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a00ed479149ae65b91f13b22431194cd7d2b9c
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode26.json
@@ -0,0 +1,1821 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 26,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 227,
+    "head_unique_frame_ratio": 0.960352422907489,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.42149824200866e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 174.83148871527777,
+    "parallel_head_unique_frame_ratio": 0.960352422907489,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 209.59074652777778,
+      "right": 174.83148871527777
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2097398712697368,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2106032594280689
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3875705324886179
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4072479866655519
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.22208310760143796
+      }
+    },
+    "physics_steps_checked": 3952
+  },
+  "episode_index": 26,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        158,
+        158
+      ],
+      "frames": 70,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5789473684210527,
+      "overlap_ratio_all": 0.4714285714285714,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 71,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8028169014084507,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        72,
+        72
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 54,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 67,
+      "left_motion_frames": 54,
+      "overlap_frames": 29,
+      "overlap_ratio_active": 0.5370370370370371,
+      "overlap_ratio_all": 0.43283582089552236,
+      "right_motion_frames": 29
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 71,
+      "end_physics_step": 965,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1207,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 71,
+      "start_physics_step": 965,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2103,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1207,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 227,
+      "end_physics_step": 3052,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2103,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 26,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 227,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.27705153822898865,
+      -0.07261607050895691,
+      0.6397122740745544,
+      0.13640132546424866,
+      0.1347731500864029,
+      -0.6866546273231506,
+      -0.7012391090393066
+    ],
+    "right_shoe_pose": [
+      0.29177433252334595,
+      -0.07745674252510071,
+      0.6397061347961426,
+      0.7133504152297974,
+      0.6994819045066833,
+      0.03052222728729248,
+      0.03040834330022335
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 6
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 46,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
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+}
diff --git a/place_dual_shoes/phase_trace/episode27.json b/place_dual_shoes/phase_trace/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..e10978c551d2f928555e883cdfed4689f3a79475
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode27.json
@@ -0,0 +1,1947 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 27,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 241,
+    "head_unique_frame_ratio": 0.9585062240663901,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.9498418530635746e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 178.57359809027778,
+    "parallel_head_unique_frame_ratio": 0.9585062240663901,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 178.57359809027778,
+      "right": 180.3888064236111
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.16267986449888291,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16267986449888291
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3729429342168838
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.38235110287669116
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1627039723289014
+      }
+    },
+    "physics_steps_checked": 4161
+  },
+  "episode_index": 27,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        171,
+        171
+      ],
+      "frames": 71,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5517241379310345,
+      "overlap_ratio_all": 0.4507042253521127,
+      "right_motion_frames": 58
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 64,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 79,
+      "left_motion_frames": 64,
+      "overlap_frames": 40,
+      "overlap_ratio_active": 0.625,
+      "overlap_ratio_all": 0.5063291139240507,
+      "right_motion_frames": 40
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 998,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1224,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 998,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 170,
+      "end_physics_step": 2301,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1224,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 241,
+      "end_physics_step": 3261,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 170,
+      "start_physics_step": 2301,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 27,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 241,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.26004210114479065,
+      -0.04682563245296478,
+      0.6399778127670288,
+      0.5258672833442688,
+      0.5251123905181885,
+      0.47288164496421814,
+      0.47339576482772827
+    ],
+    "right_shoe_pose": [
+      0.2287994623184204,
+      0.004533881321549416,
+      0.6399779319763184,
+      0.16941896080970764,
+      0.16909411549568176,
+      0.6861206293106079,
+      0.6869810223579407
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 4
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 47,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
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+      -0.4961921274662018,
+      -0.4374227821826935,
+      0.5473428964614868,
+      0.5127089619636536
+    ],
+    "right_shoe_pose": [
+      0.004178800620138645,
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+      -0.4557414650917053,
+      -0.46191343665122986,
+      0.5251689553260803,
+      0.5505753755569458
+    ]
+  },
+  "timing_summary": {
+    "active_left_frames": 170,
+    "active_right_frames": 172,
+    "active_union_frames": 196,
+    "avoidable_idle_seconds": 0.0,
+    "frames": 241,
+    "overlap_frames": 146,
+    "overlap_ratio_active": 0.7448979591836735,
+    "overlap_ratio_all": 0.6058091286307054,
+    "overlap_seconds": 4.866666666666666,
+    "seconds": 8.033333333333333,
+    "true_dependency_wait_seconds": 0.0
+  },
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diff --git a/place_dual_shoes/phase_trace/episode28.json b/place_dual_shoes/phase_trace/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02130dae81f51783332176b3509e8a39a3e9c83
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode28.json
@@ -0,0 +1,1749 @@
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+      "left": 169.22241753472224,
+      "right": 212.0358203125
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1361682476179146,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.13667881876097382
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2669875134688353
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2869022901209078
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1361682476179146
+      }
+    },
+    "physics_steps_checked": 3795
+  },
+  "episode_index": 28,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 55,
+      "first_motion_frame": [
+        149,
+        149
+      ],
+      "frames": 68,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5636363636363636,
+      "overlap_ratio_all": 0.45588235294117646,
+      "right_motion_frames": 55
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 43,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 55,
+      "left_motion_frames": 43,
+      "overlap_frames": 19,
+      "overlap_ratio_active": 0.4418604651162791,
+      "overlap_ratio_all": 0.34545454545454546,
+      "right_motion_frames": 19
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1004,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1253,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1004,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 148,
+      "end_physics_step": 1973,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1253,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2895,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 148,
+      "start_physics_step": 1973,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 28,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20855124294757843,
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+      0.6218843460083008,
+      0.5716469287872314,
+      -0.36061596870422363,
+      -0.3955196440219879
+    ],
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+      0.19137710332870483,
+      0.17328445613384247,
+      0.6531734466552734,
+      0.7118368148803711
+    ],
+    "shoe_box_pose": [
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+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 3
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 49,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+    {
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+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17004
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+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17054
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+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17104
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+    {
+      "action_index": 205,
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+      "physics_steps": 50,
+      "start_physics_step": 17154
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+    {
+      "action_index": 206,
+      "end_physics_step": 17231,
+      "physics_steps": 27,
+      "start_physics_step": 17204
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.869849238395691
+    ],
+    "left_shoe_pose": [
+      0.00048428354784846306,
+      -0.17214831709861755,
+      0.6486299633979797,
+      0.5320038199424744,
+      0.4377642869949341,
+      -0.5063033103942871,
+      -0.5186436772346497
+    ],
+    "right_shoe_pose": [
+      -0.00022197910584509373,
+      -0.08851493149995804,
+      0.6789646744728088,
+      -0.5008993744850159,
+      -0.5026814341545105,
+      0.497845321893692,
+      0.49855905771255493
+    ]
+  },
+  "training_action_input_frames": 216,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.13710090485895637,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17231,
+  "training_actions_executed": 207,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode29.json b/place_dual_shoes/phase_trace/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a710aab894f0d21af276937bc07c95495817d4f
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode29.json
@@ -0,0 +1,1881 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 29,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 239,
+    "head_unique_frame_ratio": 0.9539748953974896,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.575300583704479e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 177.4138064236111,
+    "parallel_head_unique_frame_ratio": 0.9539748953974896,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
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+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
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+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 177.4138064236111,
+      "right": 184.65176649305556
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.18738822693216484,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18738822693216484
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3515994828439842
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.360827545192971
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18740298785610238
+      }
+    },
+    "physics_steps_checked": 4132
+  },
+  "episode_index": 29,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        171,
+        171
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 63,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 78,
+      "left_motion_frames": 63,
+      "overlap_frames": 39,
+      "overlap_ratio_active": 0.6190476190476191,
+      "overlap_ratio_all": 0.5,
+      "right_motion_frames": 39
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1004,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1239,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1004,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 170,
+      "end_physics_step": 2296,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1239,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 239,
+      "end_physics_step": 3232,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 170,
+      "start_physics_step": 2296,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 29,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 239,
+  "scene_identity": {
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+  "schema_version": 5,
+  "seed": 52,
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+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+      "physics_steps": 68,
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+    {
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+      "end_physics_step": 19676,
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+      "physics_steps": 90,
+      "start_physics_step": 19676
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+    {
+      "action_index": 212,
+      "end_physics_step": 19852,
+      "physics_steps": 86,
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+    {
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+      "physics_steps": 71,
+      "start_physics_step": 19852
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+    {
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+      "physics_steps": 50,
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+    {
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+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 20073,
+      "physics_steps": 50,
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+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 20123,
+      "physics_steps": 50,
+      "start_physics_step": 20073
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 20173,
+      "physics_steps": 50,
+      "start_physics_step": 20123
+    },
+    {
+      "action_index": 219,
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+      "physics_steps": 50,
+      "start_physics_step": 20173
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 20273,
+      "physics_steps": 50,
+      "start_physics_step": 20223
+    },
+    {
+      "action_index": 221,
+      "end_physics_step": 20323,
+      "physics_steps": 50,
+      "start_physics_step": 20273
+    },
+    {
+      "action_index": 222,
+      "end_physics_step": 20373,
+      "physics_steps": 50,
+      "start_physics_step": 20323
+    },
+    {
+      "action_index": 223,
+      "end_physics_step": 20423,
+      "physics_steps": 50,
+      "start_physics_step": 20373
+    },
+    {
+      "action_index": 224,
+      "end_physics_step": 20473,
+      "physics_steps": 50,
+      "start_physics_step": 20423
+    },
+    {
+      "action_index": 225,
+      "end_physics_step": 20523,
+      "physics_steps": 50,
+      "start_physics_step": 20473
+    },
+    {
+      "action_index": 226,
+      "end_physics_step": 20573,
+      "physics_steps": 50,
+      "start_physics_step": 20523
+    },
+    {
+      "action_index": 227,
+      "end_physics_step": 20623,
+      "physics_steps": 50,
+      "start_physics_step": 20573
+    },
+    {
+      "action_index": 228,
+      "end_physics_step": 20654,
+      "physics_steps": 31,
+      "start_physics_step": 20623
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.8005025196075439
+    ],
+    "left_shoe_pose": [
+      0.001294541172683239,
+      -0.17042480409145355,
+      0.6504122018814087,
+      -0.5225664973258972,
+      -0.459382027387619,
+      0.518827497959137,
+      0.4966999292373657
+    ],
+    "right_shoe_pose": [
+      0.0016815625131130219,
+      -0.08767160773277283,
+      0.6507554054260254,
+      0.4944586753845215,
+      0.5053918361663818,
+      -0.5027245283126831,
+      -0.4973510801792145
+    ]
+  },
+  "training_action_input_frames": 239,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.18709486379093648,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20654,
+  "training_actions_executed": 229,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode3.json b/place_dual_shoes/phase_trace/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba761418a3a3256ae44e01058fb7af4d8280bf4f
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode3.json
@@ -0,0 +1,1743 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 3,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 216,
+    "head_unique_frame_ratio": 0.9537037037037037,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.78054245772741e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 149.0653884548611,
+    "parallel_head_unique_frame_ratio": 0.9537037037037037,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 149.0653884548611,
+      "right": 152.06930338541667
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2101040496933677,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21055298967600639
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.38339671529964386
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3997057420448565
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.23544846735714617
+      }
+    },
+    "physics_steps_checked": 3791
+  },
+  "episode_index": 3,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        147,
+        147
+      ],
+      "frames": 70,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5789473684210527,
+      "overlap_ratio_all": 0.4714285714285714,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 0.9411764705882353,
+      "overlap_ratio_all": 0.8421052631578947,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 42,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 53,
+      "left_motion_frames": 42,
+      "overlap_frames": 18,
+      "overlap_ratio_active": 0.42857142857142855,
+      "overlap_ratio_all": 0.33962264150943394,
+      "right_motion_frames": 18
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1001,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1242,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1001,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 146,
+      "end_physics_step": 1942,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1242,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2891,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 146,
+      "start_physics_step": 1942,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 3,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
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diff --git a/place_dual_shoes/phase_trace/episode30.json b/place_dual_shoes/phase_trace/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d6f8d07c8aa0a009d8155ec6067197af2dfca
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode30.json
@@ -0,0 +1,1773 @@
+{
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+    "frames": 218,
+    "head_unique_frame_ratio": 0.9587155963302753,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.662576617853187e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 156.45270182291668,
+    "parallel_head_unique_frame_ratio": 0.9587155963302753,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 171.77307725694445,
+      "right": 156.45270182291668
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.20913586917448923,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20996926618034484
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41550850404380774
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4297995344916153
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.26302667098605503
+      }
+    },
+    "physics_steps_checked": 3829
+  },
+  "episode_index": 30,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        147,
+        147
+      ],
+      "frames": 72,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5689655172413793,
+      "overlap_ratio_all": 0.4583333333333333,
+      "right_motion_frames": 58
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8055555555555556,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 44,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 56,
+      "left_motion_frames": 44,
+      "overlap_frames": 20,
+      "overlap_ratio_active": 0.45454545454545453,
+      "overlap_ratio_all": 0.35714285714285715,
+      "right_motion_frames": 20
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 982,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1218,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 982,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 146,
+      "end_physics_step": 1955,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1218,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 218,
+      "end_physics_step": 2929,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 146,
+      "start_physics_step": 1955,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 30,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 218,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.28651484847068787,
+      -0.06105385348200798,
+      0.6389055252075195,
+      0.6489741206169128,
+      0.6514631509780884,
+      -0.2908369302749634,
+      -0.2642767131328583
+    ],
+    "right_shoe_pose": [
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+      -0.07484040409326553,
+      0.6389137506484985,
+      0.6834046840667725,
+      0.6987087726593018,
+      0.1433442234992981,
+      0.15561679005622864
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 9
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 53,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
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+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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+}
diff --git a/place_dual_shoes/phase_trace/episode31.json b/place_dual_shoes/phase_trace/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01d7743479d5ccf4c0319692bd347db31cbbb5f
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode31.json
@@ -0,0 +1,1797 @@
+{
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+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 223,
+      "end_physics_step": 3001,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2078,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 31,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 223,
+  "scene_identity": {
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+      -0.5,
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+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 54,
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+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+      "physics_steps": 99,
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+      "physics_steps": 85,
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+      "physics_steps": 46,
+      "start_physics_step": 16738
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+    {
+      "action_index": 187,
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+      "physics_steps": 50,
+      "start_physics_step": 16784
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+    {
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+    {
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+      "physics_steps": 69,
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+      "physics_steps": 50,
+      "start_physics_step": 17003
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+    {
+      "action_index": 192,
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+      "physics_steps": 59,
+      "start_physics_step": 17053
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+    {
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+      "physics_steps": 78,
+      "start_physics_step": 17112
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+    {
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+      "physics_steps": 90,
+      "start_physics_step": 17190
+    },
+    {
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+      "physics_steps": 93,
+      "start_physics_step": 17280
+    },
+    {
+      "action_index": 196,
+      "end_physics_step": 17456,
+      "physics_steps": 83,
+      "start_physics_step": 17373
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+    {
+      "action_index": 197,
+      "end_physics_step": 17522,
+      "physics_steps": 66,
+      "start_physics_step": 17456
+    },
+    {
+      "action_index": 198,
+      "end_physics_step": 17572,
+      "physics_steps": 50,
+      "start_physics_step": 17522
+    },
+    {
+      "action_index": 199,
+      "end_physics_step": 17622,
+      "physics_steps": 50,
+      "start_physics_step": 17572
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 17672,
+      "physics_steps": 50,
+      "start_physics_step": 17622
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 17722,
+      "physics_steps": 50,
+      "start_physics_step": 17672
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 17772,
+      "physics_steps": 50,
+      "start_physics_step": 17722
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 17822,
+      "physics_steps": 50,
+      "start_physics_step": 17772
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 17872,
+      "physics_steps": 50,
+      "start_physics_step": 17822
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 17922,
+      "physics_steps": 50,
+      "start_physics_step": 17872
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 17972,
+      "physics_steps": 50,
+      "start_physics_step": 17922
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 18022,
+      "physics_steps": 50,
+      "start_physics_step": 17972
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18072,
+      "physics_steps": 50,
+      "start_physics_step": 18022
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 18122,
+      "physics_steps": 50,
+      "start_physics_step": 18072
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18172,
+      "physics_steps": 50,
+      "start_physics_step": 18122
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18222,
+      "physics_steps": 50,
+      "start_physics_step": 18172
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18272,
+      "physics_steps": 50,
+      "start_physics_step": 18222
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 18322,
+      "physics_steps": 50,
+      "start_physics_step": 18272
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 18361,
+      "physics_steps": 39,
+      "start_physics_step": 18322
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9633166015148162
+    ],
+    "left_shoe_pose": [
+      0.002064129337668419,
+      -0.16470889747142792,
+      0.6497231125831604,
+      0.5253007411956787,
+      0.4660431146621704,
+      -0.5157144069671631,
+      -0.4908173680305481
+    ],
+    "right_shoe_pose": [
+      -0.0005640245508402586,
+      -0.09585540741682053,
+      0.6777046918869019,
+      0.49463459849357605,
+      0.490717351436615,
+      -0.5104011297225952,
+      -0.5040077567100525
+    ]
+  },
+  "training_action_input_frames": 223,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.16361690913592214,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18361,
+  "training_actions_executed": 215,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode32.json b/place_dual_shoes/phase_trace/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb93c6ce474ac0c8e39d254c24dbd6cefcf885da
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode32.json
@@ -0,0 +1,1815 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 32,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 227,
+    "head_unique_frame_ratio": 0.960352422907489,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.041129448601911e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 189.8821440972222,
+    "parallel_head_unique_frame_ratio": 0.960352422907489,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 189.8821440972222,
+      "right": 200.48937934027776
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.19468460290360518,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19468460290360518
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41641693039595906
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4380840109654622
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21282476719396964
+      }
+    },
+    "physics_steps_checked": 3967
+  },
+  "episode_index": 32,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        156,
+        156
+      ],
+      "frames": 72,
+      "left_motion_frames": 35,
+      "overlap_frames": 35,
+      "overlap_ratio_active": 0.5932203389830508,
+      "overlap_ratio_all": 0.4861111111111111,
+      "right_motion_frames": 59
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 51,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 63,
+      "left_motion_frames": 51,
+      "overlap_frames": 27,
+      "overlap_ratio_active": 0.5294117647058824,
+      "overlap_ratio_all": 0.42857142857142855,
+      "right_motion_frames": 27
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1236,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2086,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1236,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 227,
+      "end_physics_step": 3067,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2086,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 32,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
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+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.8562814021110534
+    ],
+    "left_shoe_pose": [
+      -0.0010315414983779192,
+      -0.16742166876792908,
+      0.6482266187667847,
+      0.5273727178573608,
+      0.436718225479126,
+      -0.5098989009857178,
+      -0.5207286477088928
+    ],
+    "right_shoe_pose": [
+      0.0002569043717812747,
+      -0.08900204300880432,
+      0.6780512928962708,
+      0.5012606382369995,
+      0.49932926893234253,
+      -0.5012585520744324,
+      -0.4981442391872406
+    ]
+  },
+  "training_action_input_frames": 227,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.20457997975521525,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18437,
+  "training_actions_executed": 218,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode33.json b/place_dual_shoes/phase_trace/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..47691fd60e7c2cba57ff1225612afb62d8d0b885
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode33.json
@@ -0,0 +1,1869 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 33,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 236,
+    "head_unique_frame_ratio": 0.961864406779661,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.748547058341934e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 149.8999978298611,
+    "parallel_head_unique_frame_ratio": 0.961864406779661,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 206.9583224826389,
+      "right": 149.8999978298611
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2118944275283527,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2118944275283527
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.39673466885354136
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4100129720841044
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.23356381105636306
+      }
+    },
+    "physics_steps_checked": 4099
+  },
+  "episode_index": 33,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        166,
+        166
+      ],
+      "frames": 71,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5789473684210527,
+      "overlap_ratio_all": 0.4647887323943662,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 62,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 75,
+      "left_motion_frames": 62,
+      "overlap_frames": 38,
+      "overlap_ratio_active": 0.6129032258064516,
+      "overlap_ratio_all": 0.5066666666666667,
+      "right_motion_frames": 38
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 988,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1209,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 988,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 165,
+      "end_physics_step": 2243,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1209,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 236,
+      "end_physics_step": 3199,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 165,
+      "start_physics_step": 2243,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 33,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 236,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24773772060871124,
+      0.04306793212890625,
+      0.6399038434028625,
+      0.07372908294200897,
+      0.07205302268266678,
+      0.700581431388855,
+      0.7060863971710205
+    ],
+    "right_shoe_pose": [
+      0.2960665225982666,
+      0.020901208743453026,
+      0.6399053931236267,
+      0.35885190963745117,
+      0.35497793555259705,
+      0.6081761717796326,
+      0.6126482486724854
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 1
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 64,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
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+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
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+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
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diff --git a/place_dual_shoes/phase_trace/episode34.json b/place_dual_shoes/phase_trace/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d97c1d49560116aae8ae6b59f45f2de47b48c50
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode34.json
@@ -0,0 +1,1905 @@
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+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.39390344434697816
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.402583272494711
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19425276989210927
+      }
+    },
+    "physics_steps_checked": 4110
+  },
+  "episode_index": 34,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        168,
+        168
+      ],
+      "frames": 71,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5614035087719298,
+      "overlap_ratio_all": 0.4507042253521127,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 62,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 77,
+      "left_motion_frames": 62,
+      "overlap_frames": 38,
+      "overlap_ratio_active": 0.6129032258064516,
+      "overlap_ratio_all": 0.4935064935064935,
+      "right_motion_frames": 38
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 973,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1203,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 973,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 167,
+      "end_physics_step": 2253,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1203,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3210,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 167,
+      "start_physics_step": 2253,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 34,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.22974379360675812,
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+      0.45211663842201233,
+      0.44866442680358887,
+      0.5451887249946594,
+      0.5450323224067688
+    ],
+    "right_shoe_pose": [
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+      0.6398223638534546,
+      0.32596728205680847,
+      0.3274422585964203,
+      -0.6255465745925903,
+      -0.6286640763282776
+    ],
+    "shoe_box_pose": [
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+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 2
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 58,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
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+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+}
diff --git a/place_dual_shoes/phase_trace/episode35.json b/place_dual_shoes/phase_trace/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..117e90431be13a7198e4ea425ce181d20062b122
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode35.json
@@ -0,0 +1,1815 @@
+{
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+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 996,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2111,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1213,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 226,
+      "end_physics_step": 3046,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2111,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 35,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 226,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2375221848487854,
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+      -0.6608070731163025,
+      -0.675470769405365
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+      -0.46903106570243835,
+      -0.4802401065826416
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 6
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 59,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    },
+    {
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+      "start_physics_step": 18273
+    },
+    {
+      "action_index": 206,
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+      "physics_steps": 50,
+      "start_physics_step": 18323
+    },
+    {
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+      "start_physics_step": 18373
+    },
+    {
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+      "physics_steps": 50,
+      "start_physics_step": 18423
+    },
+    {
+      "action_index": 209,
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+      "physics_steps": 50,
+      "start_physics_step": 18473
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18573,
+      "physics_steps": 50,
+      "start_physics_step": 18523
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18623,
+      "physics_steps": 50,
+      "start_physics_step": 18573
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18673,
+      "physics_steps": 50,
+      "start_physics_step": 18623
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 18723,
+      "physics_steps": 50,
+      "start_physics_step": 18673
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 18773,
+      "physics_steps": 50,
+      "start_physics_step": 18723
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 18823,
+      "physics_steps": 50,
+      "start_physics_step": 18773
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 18873,
+      "physics_steps": 50,
+      "start_physics_step": 18823
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 18916,
+      "physics_steps": 43,
+      "start_physics_step": 18873
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9693467557430268
+    ],
+    "left_shoe_pose": [
+      -0.0011213850229978561,
+      -0.1642524152994156,
+      0.649721086025238,
+      0.5163626670837402,
+      0.4557281732559204,
+      -0.5252521634101868,
+      -0.4997916519641876
+    ],
+    "right_shoe_pose": [
+      -0.00040006497874855995,
+      -0.09581561386585236,
+      0.6799412965774536,
+      0.49570387601852417,
+      0.49388203024864197,
+      -0.5061133503913879,
+      -0.5041900277137756
+    ]
+  },
+  "training_action_input_frames": 226,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.2100401612492533,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18916,
+  "training_actions_executed": 218,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode36.json b/place_dual_shoes/phase_trace/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57b04fabb6ddf2ecfc4efc3d604883af8dcde50
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode36.json
@@ -0,0 +1,1827 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 36,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 228,
+    "head_unique_frame_ratio": 0.9605263157894737,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.1997600572506464e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 163.4167144097222,
+    "parallel_head_unique_frame_ratio": 0.9605263157894737,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 180.50506944444444,
+      "right": 163.4167144097222
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.17711641099567163,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17711641099567163
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4167226900872443
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4666172973493008
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21936806382478424
+      }
+    },
+    "physics_steps_checked": 3971
+  },
+  "episode_index": 36,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        160,
+        160
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 54,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 68,
+      "left_motion_frames": 54,
+      "overlap_frames": 30,
+      "overlap_ratio_active": 0.5555555555555556,
+      "overlap_ratio_all": 0.4411764705882353,
+      "right_motion_frames": 30
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1227,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 159,
+      "end_physics_step": 2134,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1227,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 228,
+      "end_physics_step": 3071,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 159,
+      "start_physics_step": 2134,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 36,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 228,
+  "scene_identity": {
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+      "action_index": 206,
+      "end_physics_step": 18785,
+      "physics_steps": 50,
+      "start_physics_step": 18735
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 18835,
+      "physics_steps": 50,
+      "start_physics_step": 18785
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18885,
+      "physics_steps": 50,
+      "start_physics_step": 18835
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 18935,
+      "physics_steps": 50,
+      "start_physics_step": 18885
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18985,
+      "physics_steps": 50,
+      "start_physics_step": 18935
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 19035,
+      "physics_steps": 50,
+      "start_physics_step": 18985
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 19085,
+      "physics_steps": 50,
+      "start_physics_step": 19035
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 19135,
+      "physics_steps": 50,
+      "start_physics_step": 19085
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 19185,
+      "physics_steps": 50,
+      "start_physics_step": 19135
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 19235,
+      "physics_steps": 50,
+      "start_physics_step": 19185
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 19285,
+      "physics_steps": 50,
+      "start_physics_step": 19235
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 19335,
+      "physics_steps": 50,
+      "start_physics_step": 19285
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 19385,
+      "physics_steps": 50,
+      "start_physics_step": 19335
+    },
+    {
+      "action_index": 219,
+      "end_physics_step": 19395,
+      "physics_steps": 10,
+      "start_physics_step": 19385
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9195979833602905
+    ],
+    "left_shoe_pose": [
+      -0.00591790396720171,
+      -0.16560548543930054,
+      0.6499212980270386,
+      0.5362139344215393,
+      0.4541740119457245,
+      -0.5041728019714355,
+      -0.5020067095756531
+    ],
+    "right_shoe_pose": [
+      -0.0011713842395693064,
+      -0.09173351526260376,
+      0.6780381798744202,
+      0.49609148502349854,
+      0.5088332295417786,
+      -0.50835782289505,
+      -0.4863688349723816
+    ]
+  },
+  "training_action_input_frames": 228,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1873391420633984,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19395,
+  "training_actions_executed": 220,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode37.json b/place_dual_shoes/phase_trace/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c9b5779865283d4fa79bef3aa4cbb425cba8195
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode37.json
@@ -0,0 +1,1905 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 37,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 241,
+    "head_unique_frame_ratio": 0.9585062240663901,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.3421946921705654e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 172.64681857638888,
+    "parallel_head_unique_frame_ratio": 0.9585062240663901,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 172.64681857638888,
+      "right": 175.79874565972221
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.18822340098649348,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18822340098649348
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3892853293810214
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.40612801936544957
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18822817421422433
+      }
+    },
+    "physics_steps_checked": 4161
+  },
+  "episode_index": 37,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        173,
+        173
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 66,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 80,
+      "left_motion_frames": 66,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6363636363636364,
+      "overlap_ratio_all": 0.525,
+      "right_motion_frames": 42
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 985,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1226,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 985,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 172,
+      "end_physics_step": 2326,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1226,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 241,
+      "end_physics_step": 3261,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 172,
+      "start_physics_step": 2326,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 37,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 241,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2910749912261963,
+      -0.0322190523147583,
+      0.6399678587913513,
+      0.2973553240299225,
+      0.296898752450943,
+      0.6411144137382507,
+      0.6421862244606018
+    ],
+    "right_shoe_pose": [
+      0.25694379210472107,
+      -0.09920850396156311,
+      0.6399675607681274,
+      0.12164566665887833,
+      0.12147549539804459,
+      0.6960024833679199,
+      0.6971560120582581
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 63,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+    ]
+  },
+  "training_action_input_frames": 241,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.18749249368967444,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 21350,
+  "training_actions_executed": 233,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode38.json b/place_dual_shoes/phase_trace/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..29da978b13024f8096aca36106c6a9c097cf6079
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode38.json
@@ -0,0 +1,1803 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 38,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 224,
+    "head_unique_frame_ratio": 0.9553571428571429,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.457426864585724e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 172.68984375,
+    "parallel_head_unique_frame_ratio": 0.9553571428571429,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 173.3191840277778,
+      "right": 172.68984375
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.18804057186001594,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18804057186001594
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41148276754277063
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41337588582124984
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.18807059059284062
+      }
+    },
+    "physics_steps_checked": 3926
+  },
+  "episode_index": 38,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        155,
+        155
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5614035087719298,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 61,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 76,
+      "left_motion_frames": 61,
+      "overlap_frames": 61,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8026315789473685,
+      "right_motion_frames": 61
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        77,
+        77
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 48,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 61,
+      "left_motion_frames": 48,
+      "overlap_frames": 24,
+      "overlap_ratio_active": 0.5,
+      "overlap_ratio_all": 0.39344262295081966,
+      "right_motion_frames": 24
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 76,
+      "end_physics_step": 1044,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1266,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 76,
+      "start_physics_step": 1044,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 154,
+      "end_physics_step": 2068,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1266,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 224,
+      "end_physics_step": 3026,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 154,
+      "start_physics_step": 2068,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 38,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23558077216148376,
+      0.029604587703943253,
+      0.6397188901901245,
+      0.3736817240715027,
+      0.3671858310699463,
+      -0.5947741866111755,
+      -0.6097378730773926
+    ],
+    "right_shoe_pose": [
+      0.26047268509864807,
+      -0.008062085136771202,
+      0.6397171020507812,
+      0.59946209192276,
+      0.585087239742279,
+      0.38274484872817993,
+      0.38964661955833435
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 6
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 65,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      0.0010934779420495033,
+      -0.1663230061531067,
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+      0.5204795598983765,
+      0.467159241437912,
+      -0.5065222978591919,
+      -0.504280149936676
+    ],
+    "right_shoe_pose": [
+      0.00018788501620292664,
+      -0.09040563553571701,
+      0.6489388942718506,
+      0.49840474128723145,
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+}
diff --git a/place_dual_shoes/phase_trace/episode39.json b/place_dual_shoes/phase_trace/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..658c50d61ad6399f4e69e8be7ee7e53e83d6414e
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode39.json
@@ -0,0 +1,1833 @@
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+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1201,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 71,
+      "start_physics_step": 966,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 144,
+      "end_physics_step": 1935,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1201,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 224,
+      "end_physics_step": 3029,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 144,
+      "start_physics_step": 1935,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 39,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 224,
+  "scene_identity": {
+    "left_shoe_pose": [
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+      -0.17460477352142334,
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+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 5
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 68,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    {
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+    {
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+    {
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+    {
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+    {
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+    {
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+    },
+    {
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+    },
+    {
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+    {
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+    {
+      "action_index": 216,
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+      "physics_steps": 50,
+      "start_physics_step": 19037
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+    {
+      "action_index": 217,
+      "end_physics_step": 19137,
+      "physics_steps": 50,
+      "start_physics_step": 19087
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 19187,
+      "physics_steps": 50,
+      "start_physics_step": 19137
+    },
+    {
+      "action_index": 219,
+      "end_physics_step": 19237,
+      "physics_steps": 50,
+      "start_physics_step": 19187
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 19285,
+      "physics_steps": 48,
+      "start_physics_step": 19237
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      -0.0010483022779226303,
+      -0.167367622256279,
+      0.6500728130340576,
+      0.5165178179740906,
+      0.4386088252067566,
+      -0.5218270421028137,
+      -0.5181972980499268
+    ],
+    "right_shoe_pose": [
+      -0.013029605150222778,
+      -0.08636964112520218,
+      0.6530506610870361,
+      -0.477293998003006,
+      -0.4818597435951233,
+      0.46388956904411316,
+      0.5699196457862854
+    ]
+  },
+  "training_action_input_frames": 224,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.19966192037090413,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19285,
+  "training_actions_executed": 221,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode4.json b/place_dual_shoes/phase_trace/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fa557c0a2de41f57f35bf5f3e75430cbe2dbb1
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode4.json
@@ -0,0 +1,1875 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 4,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 238,
+    "head_unique_frame_ratio": 0.957983193277311,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.7915072354243193e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 186.70921223958334,
+    "parallel_head_unique_frame_ratio": 0.957983193277311,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 186.70921223958334,
+      "right": 187.37656684027777
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.17128116021830367,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17128116021830367
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3576264857426334
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3738741154911932
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17129853130968808
+      }
+    },
+    "physics_steps_checked": 4131
+  },
+  "episode_index": 4,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        170,
+        170
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 57,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 80,
+      "left_motion_frames": 65,
+      "overlap_frames": 41,
+      "overlap_ratio_active": 0.6307692307692307,
+      "overlap_ratio_all": 0.5125,
+      "right_motion_frames": 41
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 976,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1199,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 976,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 169,
+      "end_physics_step": 2298,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1199,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3231,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 169,
+      "start_physics_step": 2298,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 4,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
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+      "physics_steps": 79,
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+    {
+      "action_index": 200,
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+      "physics_steps": 60,
+      "start_physics_step": 19251
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+    {
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+      "physics_steps": 34,
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+    {
+      "action_index": 202,
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+      "physics_steps": 50,
+      "start_physics_step": 19345
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+    {
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+      "physics_steps": 50,
+      "start_physics_step": 19395
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+    {
+      "action_index": 204,
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+      "physics_steps": 50,
+      "start_physics_step": 19445
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 19565,
+      "physics_steps": 70,
+      "start_physics_step": 19495
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 19615,
+      "physics_steps": 50,
+      "start_physics_step": 19565
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 19674,
+      "physics_steps": 59,
+      "start_physics_step": 19615
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 19752,
+      "physics_steps": 78,
+      "start_physics_step": 19674
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 19844,
+      "physics_steps": 92,
+      "start_physics_step": 19752
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 19940,
+      "physics_steps": 96,
+      "start_physics_step": 19844
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 20024,
+      "physics_steps": 84,
+      "start_physics_step": 19940
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 20090,
+      "physics_steps": 66,
+      "start_physics_step": 20024
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 20140,
+      "physics_steps": 50,
+      "start_physics_step": 20090
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 20190,
+      "physics_steps": 50,
+      "start_physics_step": 20140
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 20240,
+      "physics_steps": 50,
+      "start_physics_step": 20190
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 20290,
+      "physics_steps": 50,
+      "start_physics_step": 20240
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 20340,
+      "physics_steps": 50,
+      "start_physics_step": 20290
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 20390,
+      "physics_steps": 50,
+      "start_physics_step": 20340
+    },
+    {
+      "action_index": 219,
+      "end_physics_step": 20440,
+      "physics_steps": 50,
+      "start_physics_step": 20390
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 20490,
+      "physics_steps": 50,
+      "start_physics_step": 20440
+    },
+    {
+      "action_index": 221,
+      "end_physics_step": 20540,
+      "physics_steps": 50,
+      "start_physics_step": 20490
+    },
+    {
+      "action_index": 222,
+      "end_physics_step": 20590,
+      "physics_steps": 50,
+      "start_physics_step": 20540
+    },
+    {
+      "action_index": 223,
+      "end_physics_step": 20640,
+      "physics_steps": 50,
+      "start_physics_step": 20590
+    },
+    {
+      "action_index": 224,
+      "end_physics_step": 20690,
+      "physics_steps": 50,
+      "start_physics_step": 20640
+    },
+    {
+      "action_index": 225,
+      "end_physics_step": 20740,
+      "physics_steps": 50,
+      "start_physics_step": 20690
+    },
+    {
+      "action_index": 226,
+      "end_physics_step": 20790,
+      "physics_steps": 50,
+      "start_physics_step": 20740
+    },
+    {
+      "action_index": 227,
+      "end_physics_step": 20827,
+      "physics_steps": 37,
+      "start_physics_step": 20790
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.8095477437973022
+    ],
+    "left_shoe_pose": [
+      0.002391751389950514,
+      -0.1719600260257721,
+      0.6505435705184937,
+      -0.5188392400741577,
+      -0.45398855209350586,
+      0.5226240754127502,
+      0.5015620589256287
+    ],
+    "right_shoe_pose": [
+      -0.001912972191348672,
+      -0.08734725415706635,
+      0.6781389117240906,
+      -0.5020388960838318,
+      -0.4976394772529602,
+      0.49947986006736755,
+      0.5008313655853271
+    ]
+  },
+  "training_action_input_frames": 238,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1704970494162804,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20827,
+  "training_actions_executed": 228,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode40.json b/place_dual_shoes/phase_trace/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..facd78ffe78b2f555918886bdbdc12dd0d5e6d3c
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode40.json
@@ -0,0 +1,1785 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 40,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 222,
+    "head_unique_frame_ratio": 0.9594594594594594,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.828397642819837e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 178.66776258680557,
+    "parallel_head_unique_frame_ratio": 0.9594594594594594,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 178.66776258680557,
+      "right": 205.03564887152777
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.19672231241966778,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.19672231241966778
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4114275752984741
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4499955973521113
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21254587843700584
+      }
+    },
+    "physics_steps_checked": 3898
+  },
+  "episode_index": 40,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        154,
+        154
+      ],
+      "frames": 69,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5535714285714286,
+      "overlap_ratio_all": 0.4492753623188406,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 62,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 77,
+      "left_motion_frames": 62,
+      "overlap_frames": 62,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8051948051948052,
+      "right_motion_frames": 62
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        78,
+        78
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 47,
+      "first_motion_frame": [
+        96,
+        96
+      ],
+      "frames": 58,
+      "left_motion_frames": 47,
+      "overlap_frames": 22,
+      "overlap_ratio_active": 0.46808510638297873,
+      "overlap_ratio_all": 0.3793103448275862,
+      "right_motion_frames": 22
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 77,
+      "end_physics_step": 1055,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 95,
+      "end_physics_step": 1283,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 77,
+      "start_physics_step": 1055,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 153,
+      "end_physics_step": 2058,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 95,
+      "start_physics_step": 1283,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 222,
+      "end_physics_step": 2998,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 153,
+      "start_physics_step": 2058,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 40,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 222,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.24216622114181519,
+      0.04956720024347305,
+      0.6381693482398987,
+      0.4504290521144867,
+      0.41487911343574524,
+      -0.5334601402282715,
+      -0.5834459066390991
+    ],
+    "right_shoe_pose": [
+      0.27035269141197205,
+      -0.028892681002616882,
+      0.6381701827049255,
+      0.4070401191711426,
+      0.37519240379333496,
+      -0.5620909929275513,
+      -0.6144939064979553
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 3
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 67,
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diff --git a/place_dual_shoes/phase_trace/episode41.json b/place_dual_shoes/phase_trace/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f069b77a64c411e28fc706ebf7f86f99eb0c2b
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode41.json
@@ -0,0 +1,1845 @@
+{
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+      "right": 90.0
+    },
+    "frames": 230,
+    "head_unique_frame_ratio": 0.9608695652173913,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.837253292366839e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 111.30462890625,
+    "parallel_head_unique_frame_ratio": 0.9608695652173913,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 157.74927083333333,
+      "right": 111.30462890625
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.20474698997766855,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.205367102825128
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3633975995201319
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.38046883652703223
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20474698997766855
+      }
+    },
+    "physics_steps_checked": 4016
+  },
+  "episode_index": 41,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        152,
+        152
+      ],
+      "frames": 79,
+      "left_motion_frames": 41,
+      "overlap_frames": 41,
+      "overlap_ratio_active": 0.6307692307692307,
+      "overlap_ratio_all": 0.5189873417721519,
+      "right_motion_frames": 65
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 61,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 76,
+      "left_motion_frames": 61,
+      "overlap_frames": 61,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8026315789473685,
+      "right_motion_frames": 61
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        77,
+        77
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 47,
+      "first_motion_frame": [
+        94,
+        94
+      ],
+      "frames": 58,
+      "left_motion_frames": 47,
+      "overlap_frames": 23,
+      "overlap_ratio_active": 0.48936170212765956,
+      "overlap_ratio_all": 0.39655172413793105,
+      "right_motion_frames": 23
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 76,
+      "end_physics_step": 1038,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 93,
+      "end_physics_step": 1258,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 76,
+      "start_physics_step": 1038,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 151,
+      "end_physics_step": 2030,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 93,
+      "start_physics_step": 1258,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 230,
+      "end_physics_step": 3116,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 151,
+      "start_physics_step": 2030,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 41,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 230,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.25678345561027527,
+      0.04199085012078285,
+      0.6398584246635437,
+      0.6882237195968628,
+      0.6621134877204895,
+      -0.20557741820812225,
+      -0.21375656127929688
+    ],
+    "right_shoe_pose": [
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+      0.017310529947280884,
+      0.6398820281028748,
+      0.6572299599647522,
+      0.6404188871383667,
+      -0.27730122208595276,
+      -0.28463423252105713
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 5
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 72,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
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+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
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+  "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2",
+  "task_name": "place_dual_shoes",
+  "task_specific_final_state": {
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+    "left_shoe_pose": [
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+}
diff --git a/place_dual_shoes/phase_trace/episode42.json b/place_dual_shoes/phase_trace/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..e056809ae8759348d8f9df31c2e46cd58c2c6700
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode42.json
@@ -0,0 +1,1959 @@
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+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1245,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1008,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 179,
+      "end_physics_step": 2448,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1245,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 248,
+      "end_physics_step": 3379,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 179,
+      "start_physics_step": 2448,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 42,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 248,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2947119176387787,
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+      0.3658106327056885,
+      0.3670104444026947
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+      0.45214077830314636
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 1
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 76,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+}
diff --git a/place_dual_shoes/phase_trace/episode43.json b/place_dual_shoes/phase_trace/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce1fbaa4c673c8b67284c2c59a2372ef67e827a
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode43.json
@@ -0,0 +1,1821 @@
+{
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+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 228,
+      "end_physics_step": 3058,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 158,
+      "start_physics_step": 2116,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 43,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 228,
+  "scene_identity": {
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+      -0.3318084180355072,
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+      -0.5,
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
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+  "schema_version": 5,
+  "seed": 71,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+      "physics_steps": 50,
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+    {
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+      "end_physics_step": 18079,
+      "physics_steps": 59,
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+      "physics_steps": 77,
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+      "physics_steps": 91,
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+    {
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+      "physics_steps": 83,
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+    {
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+      "physics_steps": 65,
+      "start_physics_step": 18425
+    },
+    {
+      "action_index": 203,
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+      "physics_steps": 50,
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+    },
+    {
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+      "physics_steps": 50,
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+    },
+    {
+      "action_index": 205,
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+      "physics_steps": 50,
+      "start_physics_step": 18590
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 18690,
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+      "start_physics_step": 18640
+    },
+    {
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+      "physics_steps": 50,
+      "start_physics_step": 18690
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18790,
+      "physics_steps": 50,
+      "start_physics_step": 18740
+    },
+    {
+      "action_index": 209,
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+      "physics_steps": 50,
+      "start_physics_step": 18790
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18890,
+      "physics_steps": 50,
+      "start_physics_step": 18840
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18940,
+      "physics_steps": 50,
+      "start_physics_step": 18890
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18990,
+      "physics_steps": 50,
+      "start_physics_step": 18940
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 19040,
+      "physics_steps": 50,
+      "start_physics_step": 18990
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 19090,
+      "physics_steps": 50,
+      "start_physics_step": 19040
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 19140,
+      "physics_steps": 50,
+      "start_physics_step": 19090
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 19190,
+      "physics_steps": 50,
+      "start_physics_step": 19140
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 19240,
+      "physics_steps": 50,
+      "start_physics_step": 19190
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 19255,
+      "physics_steps": 15,
+      "start_physics_step": 19240
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.8517587900161743
+    ],
+    "left_shoe_pose": [
+      0.0017788889817893505,
+      -0.17073339223861694,
+      0.6504698991775513,
+      0.5188026428222656,
+      0.4546758532524109,
+      -0.5226637125015259,
+      -0.5009355545043945
+    ],
+    "right_shoe_pose": [
+      -0.011841800063848495,
+      -0.08742070198059082,
+      0.663813591003418,
+      0.5409213900566101,
+      0.4476194977760315,
+      -0.43048784136772156,
+      -0.5672047734260559
+    ]
+  },
+  "training_action_input_frames": 228,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21056915934368298,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 19255,
+  "training_actions_executed": 219,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode44.json b/place_dual_shoes/phase_trace/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a8c95171d7a5512dba43d88908033a008c5b37
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode44.json
@@ -0,0 +1,1779 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 44,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 221,
+    "head_unique_frame_ratio": 0.9592760180995475,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.127726104836583e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 100.12029079861111,
+    "parallel_head_unique_frame_ratio": 0.9592760180995475,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 177.7183767361111,
+      "right": 100.12029079861111
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.20034864115535816,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20034864115535816
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.33630728552022077
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.35176143203004107
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20037823247957565
+      }
+    },
+    "physics_steps_checked": 3870
+  },
+  "episode_index": 44,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        151,
+        151
+      ],
+      "frames": 71,
+      "left_motion_frames": 33,
+      "overlap_frames": 33,
+      "overlap_ratio_active": 0.5789473684210527,
+      "overlap_ratio_all": 0.4647887323943662,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8082191780821918,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 48,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 59,
+      "left_motion_frames": 48,
+      "overlap_frames": 24,
+      "overlap_ratio_active": 0.5,
+      "overlap_ratio_all": 0.4067796610169492,
+      "right_motion_frames": 24
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 996,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1228,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 996,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 150,
+      "end_physics_step": 2014,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1228,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 221,
+      "end_physics_step": 2970,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 150,
+      "start_physics_step": 2014,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 44,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 221,
+  "scene_identity": {
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+  "schedule_search": null,
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+  "schema_version": 5,
+  "seed": 74,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+      1.0,
+      0.8804019999504089
+    ],
+    "left_shoe_pose": [
+      -0.0022942968644201756,
+      -0.1746642142534256,
+      0.6506792306900024,
+      0.5466499924659729,
+      0.4604162871837616,
+      -0.4942512810230255,
+      -0.4948802888393402
+    ],
+    "right_shoe_pose": [
+      -0.0019465589430183172,
+      -0.09220424294471741,
+      0.6799750328063965,
+      0.4982723295688629,
+      0.4945303797721863,
+      -0.49773040413856506,
+      -0.5093417167663574
+    ]
+  },
+  "training_action_input_frames": 221,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.1990386473504217,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18145,
+  "training_actions_executed": 212,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode45.json b/place_dual_shoes/phase_trace/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1989efd950a84d26a001b51a92c7fc631bcb167
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode45.json
@@ -0,0 +1,1791 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 45,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 219,
+    "head_unique_frame_ratio": 0.954337899543379,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.912992522532189e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 148.6261328125,
+    "parallel_head_unique_frame_ratio": 0.954337899543379,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 148.6261328125,
+      "right": 169.86229166666666
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2018526523670114,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2018526523670114
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3421610170063166
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.33860856108573456
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.20188326397159156
+      }
+    },
+    "physics_steps_checked": 3831
+  },
+  "episode_index": 45,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 57,
+      "first_motion_frame": [
+        150,
+        150
+      ],
+      "frames": 70,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5614035087719298,
+      "overlap_ratio_all": 0.45714285714285713,
+      "right_motion_frames": 57
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 72,
+      "left_motion_frames": 58,
+      "overlap_frames": 57,
+      "overlap_ratio_active": 0.9827586206896551,
+      "overlap_ratio_all": 0.7916666666666666,
+      "right_motion_frames": 57
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        73,
+        73
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 47,
+      "first_motion_frame": [
+        90,
+        90
+      ],
+      "frames": 60,
+      "left_motion_frames": 47,
+      "overlap_frames": 23,
+      "overlap_ratio_active": 0.48936170212765956,
+      "overlap_ratio_all": 0.38333333333333336,
+      "right_motion_frames": 23
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 72,
+      "end_physics_step": 975,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 89,
+      "end_physics_step": 1194,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 975,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 149,
+      "end_physics_step": 1977,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 89,
+      "start_physics_step": 1194,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 219,
+      "end_physics_step": 2931,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 149,
+      "start_physics_step": 1977,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 45,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 219,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.20684021711349487,
+      0.0004909568233415484,
+      0.6399775743484497,
+      0.45976296067237854,
+      0.4592548906803131,
+      -0.5370756983757019,
+      -0.5378222465515137
+    ],
+    "right_shoe_pose": [
+      0.21840237081050873,
+      0.008735042996704578,
+      0.6399775743484497,
+      0.4525105059146881,
+      0.45201313495635986,
+      -0.5431846976280212,
+      -0.5439382791519165
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 4
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 75,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
+    "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058",
+    "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b",
+    "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538",
+    "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405",
+    "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d",
+    "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292"
+  },
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+}
diff --git a/place_dual_shoes/phase_trace/episode46.json b/place_dual_shoes/phase_trace/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..d896456ce9308af6b6550a574c0693b232fb4e5a
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode46.json
@@ -0,0 +1,1761 @@
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+      "end_frame": 72,
+      "end_physics_step": 984,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1219,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 72,
+      "start_physics_step": 984,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 148,
+      "end_physics_step": 1982,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1219,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 217,
+      "end_physics_step": 2913,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 148,
+      "start_physics_step": 1982,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 46,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 217,
+  "scene_identity": {
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+      -0.5,
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+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 84,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+    {
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+    {
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+    {
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+      "start_physics_step": 16856
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+    {
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+      "start_physics_step": 16906
+    },
+    {
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+      "start_physics_step": 16956
+    },
+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17006
+    },
+    {
+      "action_index": 198,
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+      "physics_steps": 50,
+      "start_physics_step": 17056
+    },
+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17106
+    },
+    {
+      "action_index": 200,
+      "end_physics_step": 17206,
+      "physics_steps": 50,
+      "start_physics_step": 17156
+    },
+    {
+      "action_index": 201,
+      "end_physics_step": 17256,
+      "physics_steps": 50,
+      "start_physics_step": 17206
+    },
+    {
+      "action_index": 202,
+      "end_physics_step": 17306,
+      "physics_steps": 50,
+      "start_physics_step": 17256
+    },
+    {
+      "action_index": 203,
+      "end_physics_step": 17356,
+      "physics_steps": 50,
+      "start_physics_step": 17306
+    },
+    {
+      "action_index": 204,
+      "end_physics_step": 17406,
+      "physics_steps": 50,
+      "start_physics_step": 17356
+    },
+    {
+      "action_index": 205,
+      "end_physics_step": 17456,
+      "physics_steps": 50,
+      "start_physics_step": 17406
+    },
+    {
+      "action_index": 206,
+      "end_physics_step": 17506,
+      "physics_steps": 50,
+      "start_physics_step": 17456
+    },
+    {
+      "action_index": 207,
+      "end_physics_step": 17556,
+      "physics_steps": 50,
+      "start_physics_step": 17506
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 17588,
+      "physics_steps": 32,
+      "start_physics_step": 17556
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.952763831615448
+    ],
+    "left_shoe_pose": [
+      0.0050057582557201385,
+      -0.16701963543891907,
+      0.6500396132469177,
+      0.5205701589584351,
+      0.4712728261947632,
+      -0.5207937359809875,
+      -0.4854714870452881
+    ],
+    "right_shoe_pose": [
+      -0.00502356979995966,
+      -0.09492515027523041,
+      0.6790480017662048,
+      -0.5244508981704712,
+      -0.49470898509025574,
+      0.48073500394821167,
+      0.49910739064216614
+    ]
+  },
+  "training_action_input_frames": 217,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.16741362542198462,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 17588,
+  "training_actions_executed": 209,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode47.json b/place_dual_shoes/phase_trace/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c820b7adb92d1c45cd1482e0a8ce386b405de8
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode47.json
@@ -0,0 +1,1893 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 47,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 238,
+    "head_unique_frame_ratio": 0.957983193277311,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.6014479749011414e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 158.37233506944443,
+    "parallel_head_unique_frame_ratio": 0.957983193277311,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 163.70319444444442,
+      "right": 158.37233506944443
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.16528310377156896,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16528310377156896
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4146924581482189
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4318323377693438
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16529370874827276
+      }
+    },
+    "physics_steps_checked": 4113
+  },
+  "episode_index": 47,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 67,
+      "first_motion_frame": [
+        158,
+        158
+      ],
+      "frames": 81,
+      "left_motion_frames": 42,
+      "overlap_frames": 42,
+      "overlap_ratio_active": 0.6268656716417911,
+      "overlap_ratio_all": 0.5185185185185185,
+      "right_motion_frames": 67
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 75,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7866666666666666,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 17,
+      "first_motion_frame": [
+        76,
+        76
+      ],
+      "frames": 19,
+      "left_motion_frames": 17,
+      "overlap_frames": 17,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8947368421052632,
+      "right_motion_frames": 17
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 51,
+      "first_motion_frame": [
+        95,
+        95
+      ],
+      "frames": 63,
+      "left_motion_frames": 51,
+      "overlap_frames": 27,
+      "overlap_ratio_active": 0.5294117647058824,
+      "overlap_ratio_all": 0.42857142857142855,
+      "right_motion_frames": 27
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 75,
+      "end_physics_step": 1017,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 94,
+      "end_physics_step": 1258,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 75,
+      "start_physics_step": 1017,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 157,
+      "end_physics_step": 2102,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 94,
+      "start_physics_step": 1258,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3213,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 157,
+      "start_physics_step": 2102,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 47,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
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+      "start_physics_step": 19659
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+    {
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+      "end_physics_step": 19803,
+      "physics_steps": 76,
+      "start_physics_step": 19727
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+    {
+      "action_index": 209,
+      "end_physics_step": 19883,
+      "physics_steps": 80,
+      "start_physics_step": 19803
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 19963,
+      "physics_steps": 80,
+      "start_physics_step": 19883
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 20039,
+      "physics_steps": 76,
+      "start_physics_step": 19963
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 20105,
+      "physics_steps": 66,
+      "start_physics_step": 20039
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+    {
+      "action_index": 213,
+      "end_physics_step": 20155,
+      "physics_steps": 50,
+      "start_physics_step": 20105
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 20205,
+      "physics_steps": 50,
+      "start_physics_step": 20155
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 20255,
+      "physics_steps": 50,
+      "start_physics_step": 20205
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 20305,
+      "physics_steps": 50,
+      "start_physics_step": 20255
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 20355,
+      "physics_steps": 50,
+      "start_physics_step": 20305
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 20405,
+      "physics_steps": 50,
+      "start_physics_step": 20355
+    },
+    {
+      "action_index": 219,
+      "end_physics_step": 20455,
+      "physics_steps": 50,
+      "start_physics_step": 20405
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 20505,
+      "physics_steps": 50,
+      "start_physics_step": 20455
+    },
+    {
+      "action_index": 221,
+      "end_physics_step": 20555,
+      "physics_steps": 50,
+      "start_physics_step": 20505
+    },
+    {
+      "action_index": 222,
+      "end_physics_step": 20605,
+      "physics_steps": 50,
+      "start_physics_step": 20555
+    },
+    {
+      "action_index": 223,
+      "end_physics_step": 20655,
+      "physics_steps": 50,
+      "start_physics_step": 20605
+    },
+    {
+      "action_index": 224,
+      "end_physics_step": 20705,
+      "physics_steps": 50,
+      "start_physics_step": 20655
+    },
+    {
+      "action_index": 225,
+      "end_physics_step": 20755,
+      "physics_steps": 50,
+      "start_physics_step": 20705
+    },
+    {
+      "action_index": 226,
+      "end_physics_step": 20805,
+      "physics_steps": 50,
+      "start_physics_step": 20755
+    },
+    {
+      "action_index": 227,
+      "end_physics_step": 20855,
+      "physics_steps": 50,
+      "start_physics_step": 20805
+    },
+    {
+      "action_index": 228,
+      "end_physics_step": 20905,
+      "physics_steps": 50,
+      "start_physics_step": 20855
+    },
+    {
+      "action_index": 229,
+      "end_physics_step": 20955,
+      "physics_steps": 50,
+      "start_physics_step": 20905
+    },
+    {
+      "action_index": 230,
+      "end_physics_step": 20962,
+      "physics_steps": 7,
+      "start_physics_step": 20955
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9827135920524597
+    ],
+    "left_shoe_pose": [
+      0.0028520869091153145,
+      -0.16730879247188568,
+      0.6486468315124512,
+      0.5092567205429077,
+      0.4784983992576599,
+      -0.5119574666023254,
+      -0.49959641695022583
+    ],
+    "right_shoe_pose": [
+      -0.005567615386098623,
+      -0.09340474009513855,
+      0.6792173981666565,
+      -0.5377590656280518,
+      -0.4741268754005432,
+      0.4840981066226959,
+      0.5016650557518005
+    ]
+  },
+  "training_action_input_frames": 238,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.16515680596251667,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20962,
+  "training_actions_executed": 231,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode48.json b/place_dual_shoes/phase_trace/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f64e361eb943438e3ac6514a9a4449df03c7e97
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode48.json
@@ -0,0 +1,2013 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 48,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 252,
+    "head_unique_frame_ratio": 0.9563492063492064,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.0427156256249717e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 168.14388671875,
+    "parallel_head_unique_frame_ratio": 0.9563492063492064,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 181.52973958333334,
+      "right": 168.14388671875
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.15920735688810936,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.15920735688810936
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3654019207914464
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3666140940616604
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.15921811475418696
+      }
+    },
+    "physics_steps_checked": 4321
+  },
+  "episode_index": 48,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        180,
+        180
+      ],
+      "frames": 73,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5344827586206896,
+      "overlap_ratio_all": 0.4246575342465753,
+      "right_motion_frames": 58
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 80,
+      "left_motion_frames": 65,
+      "overlap_frames": 65,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8125,
+      "right_motion_frames": 65
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        81,
+        81
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 67,
+      "first_motion_frame": [
+        99,
+        99
+      ],
+      "frames": 81,
+      "left_motion_frames": 67,
+      "overlap_frames": 43,
+      "overlap_ratio_active": 0.6417910447761194,
+      "overlap_ratio_all": 0.5308641975308642,
+      "right_motion_frames": 43
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 80,
+      "end_physics_step": 1094,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 98,
+      "end_physics_step": 1327,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 80,
+      "start_physics_step": 1094,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 179,
+      "end_physics_step": 2438,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 98,
+      "start_physics_step": 1327,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 252,
+      "end_physics_step": 3421,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 179,
+      "start_physics_step": 2438,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 48,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 252,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.23552054166793823,
+      0.04831689968705177,
+      0.6399778127670288,
+      0.6080957055091858,
+      0.6072549819946289,
+      0.3613882064819336,
+      0.3617452383041382
+    ],
+    "right_shoe_pose": [
+      0.206946462392807,
+      -0.08658108860254288,
+      0.6399773955345154,
+      0.16909879446029663,
+      0.16887393593788147,
+      -0.6862245798110962,
+      -0.6870102882385254
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 4
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 82,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
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+      "start_physics_step": 22120
+    },
+    {
+      "action_index": 229,
+      "end_physics_step": 22220,
+      "physics_steps": 50,
+      "start_physics_step": 22170
+    },
+    {
+      "action_index": 230,
+      "end_physics_step": 22270,
+      "physics_steps": 50,
+      "start_physics_step": 22220
+    },
+    {
+      "action_index": 231,
+      "end_physics_step": 22320,
+      "physics_steps": 50,
+      "start_physics_step": 22270
+    },
+    {
+      "action_index": 232,
+      "end_physics_step": 22370,
+      "physics_steps": 50,
+      "start_physics_step": 22320
+    },
+    {
+      "action_index": 233,
+      "end_physics_step": 22420,
+      "physics_steps": 50,
+      "start_physics_step": 22370
+    },
+    {
+      "action_index": 234,
+      "end_physics_step": 22470,
+      "physics_steps": 50,
+      "start_physics_step": 22420
+    },
+    {
+      "action_index": 235,
+      "end_physics_step": 22520,
+      "physics_steps": 50,
+      "start_physics_step": 22470
+    },
+    {
+      "action_index": 236,
+      "end_physics_step": 22570,
+      "physics_steps": 50,
+      "start_physics_step": 22520
+    },
+    {
+      "action_index": 237,
+      "end_physics_step": 22620,
+      "physics_steps": 50,
+      "start_physics_step": 22570
+    },
+    {
+      "action_index": 238,
+      "end_physics_step": 22670,
+      "physics_steps": 50,
+      "start_physics_step": 22620
+    },
+    {
+      "action_index": 239,
+      "end_physics_step": 22720,
+      "physics_steps": 50,
+      "start_physics_step": 22670
+    },
+    {
+      "action_index": 240,
+      "end_physics_step": 22770,
+      "physics_steps": 50,
+      "start_physics_step": 22720
+    },
+    {
+      "action_index": 241,
+      "end_physics_step": 22820,
+      "physics_steps": 50,
+      "start_physics_step": 22770
+    },
+    {
+      "action_index": 242,
+      "end_physics_step": 22870,
+      "physics_steps": 50,
+      "start_physics_step": 22820
+    },
+    {
+      "action_index": 243,
+      "end_physics_step": 22920,
+      "physics_steps": 50,
+      "start_physics_step": 22870
+    },
+    {
+      "action_index": 244,
+      "end_physics_step": 22970,
+      "physics_steps": 50,
+      "start_physics_step": 22920
+    },
+    {
+      "action_index": 245,
+      "end_physics_step": 23020,
+      "physics_steps": 50,
+      "start_physics_step": 22970
+    },
+    {
+      "action_index": 246,
+      "end_physics_step": 23070,
+      "physics_steps": 50,
+      "start_physics_step": 23020
+    },
+    {
+      "action_index": 247,
+      "end_physics_step": 23120,
+      "physics_steps": 50,
+      "start_physics_step": 23070
+    },
+    {
+      "action_index": 248,
+      "end_physics_step": 23170,
+      "physics_steps": 50,
+      "start_physics_step": 23120
+    },
+    {
+      "action_index": 249,
+      "end_physics_step": 23220,
+      "physics_steps": 50,
+      "start_physics_step": 23170
+    },
+    {
+      "action_index": 250,
+      "end_physics_step": 23262,
+      "physics_steps": 42,
+      "start_physics_step": 23220
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      -0.01150677539408207,
+      -0.176546111702919,
+      0.652805507183075,
+      -0.510278046131134,
+      -0.46826061606407166,
+      0.49720630049705505,
+      0.5226225256919861
+    ],
+    "right_shoe_pose": [
+      -0.013632620684802532,
+      -0.09948461502790451,
+      0.6505187749862671,
+      0.43717682361602783,
+      0.46382421255111694,
+      -0.5195759534835815,
+      -0.5690204501152039
+    ]
+  },
+  "training_action_input_frames": 252,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.15811135133380783,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 23262,
+  "training_actions_executed": 251,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode49.json b/place_dual_shoes/phase_trace/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec64a508237a4e7fbd38c650c8c12b05cf800983
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode49.json
@@ -0,0 +1,1755 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 49,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 216,
+    "head_unique_frame_ratio": 0.9583333333333334,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.017309324950592e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 170.81288628472223,
+    "parallel_head_unique_frame_ratio": 0.9583333333333334,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 170.81288628472223,
+      "right": 171.74661241319444
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.17359429509554808,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17385276880593195
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4128052704662745
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4287486287606722
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.17359429509554808
+      }
+    },
+    "physics_steps_checked": 3805
+  },
+  "episode_index": 49,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        148,
+        148
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 46,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 57,
+      "left_motion_frames": 46,
+      "overlap_frames": 22,
+      "overlap_ratio_active": 0.4782608695652174,
+      "overlap_ratio_all": 0.38596491228070173,
+      "right_motion_frames": 22
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 992,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1215,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 992,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 147,
+      "end_physics_step": 1969,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1215,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 216,
+      "end_physics_step": 2905,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 147,
+      "start_physics_step": 1969,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 49,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 216,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2979806363582611,
+      -0.029024535790085793,
+      0.6397085189819336,
+      0.6394001245498657,
+      0.6271368265151978,
+      -0.3109615445137024,
+      -0.318072110414505
+    ],
+    "right_shoe_pose": [
+      0.23820942640304565,
+      -0.000971052679233253,
+      0.6397215127944946,
+      0.5864889621734619,
+      0.571281909942627,
+      0.4022882282733917,
+      0.40967288613319397
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 6
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 83,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
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diff --git a/place_dual_shoes/phase_trace/episode5.json b/place_dual_shoes/phase_trace/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..5692cfd4385e235902689d3d7200074ce122c48a
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode5.json
@@ -0,0 +1,1881 @@
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+      "name": "centered_fovy90",
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+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 170.11608940972224,
+      "right": 174.7490017361111
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.1997368206417836,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.1997368206417836
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3848496157757012
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.40046400738280047
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2131624868146712
+      }
+    },
+    "physics_steps_checked": 4107
+  },
+  "episode_index": 5,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 55,
+      "first_motion_frame": [
+        169,
+        169
+      ],
+      "frames": 69,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5636363636363636,
+      "overlap_ratio_all": 0.4492753623188406,
+      "right_motion_frames": 55
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 63,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 77,
+      "left_motion_frames": 63,
+      "overlap_frames": 38,
+      "overlap_ratio_active": 0.6031746031746031,
+      "overlap_ratio_all": 0.4935064935064935,
+      "right_motion_frames": 38
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 993,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1227,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 993,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 168,
+      "end_physics_step": 2276,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1227,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 237,
+      "end_physics_step": 3207,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 168,
+      "start_physics_step": 2276,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 5,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 237,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2610022723674774,
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+      0.18889470398426056,
+      0.18861506879329681,
+      0.6808809638023376,
+      0.6820149421691895
+    ],
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+      0.6399680376052856,
+      0.3173770308494568,
+      0.3168271481990814,
+      -0.6314992308616638,
+      -0.6325355768203735
+    ],
+    "shoe_box_pose": [
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+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 8
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 6,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
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+}
diff --git a/place_dual_shoes/phase_trace/episode6.json b/place_dual_shoes/phase_trace/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..11075f1a5824f4a00fcfd4e831e5e1b560b86a07
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode6.json
@@ -0,0 +1,1803 @@
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+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 77,
+      "start_physics_step": 1055,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 155,
+      "end_physics_step": 2090,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 95,
+      "start_physics_step": 1286,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 225,
+      "end_physics_step": 3031,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 155,
+      "start_physics_step": 2090,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 6,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 225,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.22387105226516724,
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+      -0.19872993230819702,
+      -0.20929811894893646
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+      0.5160282850265503,
+      0.5048297047615051,
+      -0.4838772714138031,
+      -0.49469661712646484
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+    "shoe_box_pose": [
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+      0.5,
+      0.5,
+      -0.5,
+      -0.5
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+    "shoe_id": 5
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 25,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
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+    {
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+    {
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+    {
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+      "start_physics_step": 17765
+    },
+    {
+      "action_index": 204,
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+      "physics_steps": 50,
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+    },
+    {
+      "action_index": 205,
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+      "physics_steps": 50,
+      "start_physics_step": 17865
+    },
+    {
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+    },
+    {
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+      "physics_steps": 50,
+      "start_physics_step": 17965
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 18065,
+      "physics_steps": 50,
+      "start_physics_step": 18015
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 18115,
+      "physics_steps": 50,
+      "start_physics_step": 18065
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 18165,
+      "physics_steps": 50,
+      "start_physics_step": 18115
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 18215,
+      "physics_steps": 50,
+      "start_physics_step": 18165
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 18265,
+      "physics_steps": 50,
+      "start_physics_step": 18215
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 18315,
+      "physics_steps": 50,
+      "start_physics_step": 18265
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 18365,
+      "physics_steps": 50,
+      "start_physics_step": 18315
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 18415,
+      "physics_steps": 50,
+      "start_physics_step": 18365
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9045225977897644
+    ],
+    "left_shoe_pose": [
+      0.0020916666835546494,
+      -0.16601873934268951,
+      0.6499110460281372,
+      0.5513430833816528,
+      0.4704446494579315,
+      -0.48906388878822327,
+      -0.48530313372612
+    ],
+    "right_shoe_pose": [
+      -0.002314216922968626,
+      -0.09206200391054153,
+      0.6788662672042847,
+      0.5140841007232666,
+      0.47790753841400146,
+      -0.4863259196281433,
+      -0.5203933715820312
+    ]
+  },
+  "training_action_input_frames": 225,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.19367668583830036,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 18415,
+  "training_actions_executed": 216,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode7.json b/place_dual_shoes/phase_trace/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb01ceb2818cc4a0b868fa1ea1aa1ccef36ebb7
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode7.json
@@ -0,0 +1,1887 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 7,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 238,
+    "head_unique_frame_ratio": 0.9621848739495799,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 5.2582448145654936e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 170.25175130208333,
+    "parallel_head_unique_frame_ratio": 0.9621848739495799,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 173.89170355902777,
+      "right": 170.25175130208333
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.16668857432546696,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16668857432546696
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.3405808835707897
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.35563894808539037
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.16671169874196817
+      }
+    },
+    "physics_steps_checked": 4134
+  },
+  "episode_index": 7,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        170,
+        170
+      ],
+      "frames": 69,
+      "left_motion_frames": 32,
+      "overlap_frames": 32,
+      "overlap_ratio_active": 0.5714285714285714,
+      "overlap_ratio_all": 0.463768115942029,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8082191780821918,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 15,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 17,
+      "left_motion_frames": 15,
+      "overlap_frames": 15,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8823529411764706,
+      "right_motion_frames": 15
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        91,
+        91
+      ],
+      "frames": 79,
+      "left_motion_frames": 65,
+      "overlap_frames": 40,
+      "overlap_ratio_active": 0.6153846153846154,
+      "overlap_ratio_all": 0.5063291139240507,
+      "right_motion_frames": 40
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 996,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 90,
+      "end_physics_step": 1220,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 996,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 169,
+      "end_physics_step": 2301,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 90,
+      "start_physics_step": 1220,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 238,
+      "end_physics_step": 3234,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 169,
+      "start_physics_step": 2301,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 7,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 238,
+  "scene_identity": {
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+  "schema_version": 5,
+  "seed": 10,
+  "seed_policy": "independent",
+  "source_commits": {
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+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
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+    {
+      "action_index": 207,
+      "end_physics_step": 19671,
+      "physics_steps": 59,
+      "start_physics_step": 19612
+    },
+    {
+      "action_index": 208,
+      "end_physics_step": 19745,
+      "physics_steps": 74,
+      "start_physics_step": 19671
+    },
+    {
+      "action_index": 209,
+      "end_physics_step": 19827,
+      "physics_steps": 82,
+      "start_physics_step": 19745
+    },
+    {
+      "action_index": 210,
+      "end_physics_step": 19914,
+      "physics_steps": 87,
+      "start_physics_step": 19827
+    },
+    {
+      "action_index": 211,
+      "end_physics_step": 19999,
+      "physics_steps": 85,
+      "start_physics_step": 19914
+    },
+    {
+      "action_index": 212,
+      "end_physics_step": 20072,
+      "physics_steps": 73,
+      "start_physics_step": 19999
+    },
+    {
+      "action_index": 213,
+      "end_physics_step": 20124,
+      "physics_steps": 52,
+      "start_physics_step": 20072
+    },
+    {
+      "action_index": 214,
+      "end_physics_step": 20174,
+      "physics_steps": 50,
+      "start_physics_step": 20124
+    },
+    {
+      "action_index": 215,
+      "end_physics_step": 20224,
+      "physics_steps": 50,
+      "start_physics_step": 20174
+    },
+    {
+      "action_index": 216,
+      "end_physics_step": 20274,
+      "physics_steps": 50,
+      "start_physics_step": 20224
+    },
+    {
+      "action_index": 217,
+      "end_physics_step": 20324,
+      "physics_steps": 50,
+      "start_physics_step": 20274
+    },
+    {
+      "action_index": 218,
+      "end_physics_step": 20374,
+      "physics_steps": 50,
+      "start_physics_step": 20324
+    },
+    {
+      "action_index": 219,
+      "end_physics_step": 20424,
+      "physics_steps": 50,
+      "start_physics_step": 20374
+    },
+    {
+      "action_index": 220,
+      "end_physics_step": 20474,
+      "physics_steps": 50,
+      "start_physics_step": 20424
+    },
+    {
+      "action_index": 221,
+      "end_physics_step": 20524,
+      "physics_steps": 50,
+      "start_physics_step": 20474
+    },
+    {
+      "action_index": 222,
+      "end_physics_step": 20574,
+      "physics_steps": 50,
+      "start_physics_step": 20524
+    },
+    {
+      "action_index": 223,
+      "end_physics_step": 20624,
+      "physics_steps": 50,
+      "start_physics_step": 20574
+    },
+    {
+      "action_index": 224,
+      "end_physics_step": 20674,
+      "physics_steps": 50,
+      "start_physics_step": 20624
+    },
+    {
+      "action_index": 225,
+      "end_physics_step": 20724,
+      "physics_steps": 50,
+      "start_physics_step": 20674
+    },
+    {
+      "action_index": 226,
+      "end_physics_step": 20774,
+      "physics_steps": 50,
+      "start_physics_step": 20724
+    },
+    {
+      "action_index": 227,
+      "end_physics_step": 20824,
+      "physics_steps": 50,
+      "start_physics_step": 20774
+    },
+    {
+      "action_index": 228,
+      "end_physics_step": 20874,
+      "physics_steps": 50,
+      "start_physics_step": 20824
+    },
+    {
+      "action_index": 229,
+      "end_physics_step": 20904,
+      "physics_steps": 30,
+      "start_physics_step": 20874
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      0.9497487545013428
+    ],
+    "left_shoe_pose": [
+      0.0041311318054795265,
+      -0.16587774455547333,
+      0.6500376462936401,
+      -0.5205788612365723,
+      -0.47266268730163574,
+      0.5189723372459412,
+      0.4860610067844391
+    ],
+    "right_shoe_pose": [
+      -0.0032999906688928604,
+      -0.0943654477596283,
+      0.6796346306800842,
+      0.5239628553390503,
+      0.4886474013328552,
+      -0.4801451563835144,
+      -0.506109893321991
+    ]
+  },
+  "training_action_input_frames": 238,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.16523825458519129,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 20904,
+  "training_actions_executed": 230,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode8.json b/place_dual_shoes/phase_trace/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc9ed85afbcf15213d00aaaf19399962469405e
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode8.json
@@ -0,0 +1,1935 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 8,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 242,
+    "head_unique_frame_ratio": 0.9586776859504132,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.9956402736750505e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 175.34759765625,
+    "parallel_head_unique_frame_ratio": 0.9586776859504132,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 175.34759765625,
+      "right": 181.16041449652778
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.2000145375765932,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.2000145375765932
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4153125163238541
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4273552968414592
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.23669389763706714
+      }
+    },
+    "physics_steps_checked": 4166
+  },
+  "episode_index": 8,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 56,
+      "first_motion_frame": [
+        173,
+        173
+      ],
+      "frames": 70,
+      "left_motion_frames": 31,
+      "overlap_frames": 31,
+      "overlap_ratio_active": 0.5535714285714286,
+      "overlap_ratio_all": 0.44285714285714284,
+      "right_motion_frames": 56
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 59,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 74,
+      "left_motion_frames": 59,
+      "overlap_frames": 59,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7972972972972973,
+      "right_motion_frames": 59
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        75,
+        75
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 65,
+      "first_motion_frame": [
+        93,
+        93
+      ],
+      "frames": 80,
+      "left_motion_frames": 65,
+      "overlap_frames": 40,
+      "overlap_ratio_active": 0.6153846153846154,
+      "overlap_ratio_all": 0.5,
+      "right_motion_frames": 40
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 74,
+      "end_physics_step": 1003,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 92,
+      "end_physics_step": 1232,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 74,
+      "start_physics_step": 1003,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 172,
+      "end_physics_step": 2322,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 92,
+      "start_physics_step": 1232,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 242,
+      "end_physics_step": 3266,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 172,
+      "start_physics_step": 2322,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 8,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 242,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2338215410709381,
+      -0.021105129271745682,
+      0.639977753162384,
+      0.5207312703132629,
+      0.5199825167655945,
+      0.4785180687904358,
+      0.47903820872306824
+    ],
+    "right_shoe_pose": [
+      0.29699963331222534,
+      0.04828628897666931,
+      0.6399779319763184,
+      0.17365053296089172,
+      0.17331987619400024,
+      0.6850654482841492,
+      0.68592369556427
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 4
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 11,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
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+      "physics_steps": 50,
+      "start_physics_step": 21562
+    },
+    {
+      "action_index": 230,
+      "end_physics_step": 21662,
+      "physics_steps": 50,
+      "start_physics_step": 21612
+    },
+    {
+      "action_index": 231,
+      "end_physics_step": 21712,
+      "physics_steps": 50,
+      "start_physics_step": 21662
+    },
+    {
+      "action_index": 232,
+      "end_physics_step": 21762,
+      "physics_steps": 50,
+      "start_physics_step": 21712
+    },
+    {
+      "action_index": 233,
+      "end_physics_step": 21812,
+      "physics_steps": 50,
+      "start_physics_step": 21762
+    },
+    {
+      "action_index": 234,
+      "end_physics_step": 21862,
+      "physics_steps": 50,
+      "start_physics_step": 21812
+    },
+    {
+      "action_index": 235,
+      "end_physics_step": 21912,
+      "physics_steps": 50,
+      "start_physics_step": 21862
+    },
+    {
+      "action_index": 236,
+      "end_physics_step": 21962,
+      "physics_steps": 50,
+      "start_physics_step": 21912
+    },
+    {
+      "action_index": 237,
+      "end_physics_step": 21964,
+      "physics_steps": 2,
+      "start_physics_step": 21962
+    }
+  ],
+  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
+  "training_action_final_state": {
+    "grippers": [
+      1.0,
+      1.0
+    ],
+    "left_shoe_pose": [
+      -0.003738988656550646,
+      -0.17764970660209656,
+      0.651542067527771,
+      -0.5118789672851562,
+      -0.46839573979377747,
+      0.5201932787895203,
+      0.49798038601875305
+    ],
+    "right_shoe_pose": [
+      -0.007152228150516748,
+      -0.10186225920915604,
+      0.6603180766105652,
+      -0.5084092020988464,
+      -0.444065123796463,
+      0.46875083446502686,
+      0.5697358250617981
+    ]
+  },
+  "training_action_input_frames": 242,
+  "training_action_interarm_contact_steps": 0,
+  "training_action_minimum_capsule_distance_m": 0.21111764244059167,
+  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
+  "training_action_preprocessor_version": 2,
+  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
+  "training_action_replay_success": true,
+  "training_action_total_physics_steps": 21964,
+  "training_actions_executed": 238,
+  "validate_synchronized_training_replay": true,
+  "wrist_camera_preset": "centered_fovy90"
+}
diff --git a/place_dual_shoes/phase_trace/episode9.json b/place_dual_shoes/phase_trace/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae872c4663d35de368b9120ebd1582a753b3cab0
--- /dev/null
+++ b/place_dual_shoes/phase_trace/episode9.json
@@ -0,0 +1,1863 @@
+{
+  "base_config": "parallelvla_clean_pcd",
+  "camera_validation": {
+    "episode": 9,
+    "fovy_deg": {
+      "left": 90.0,
+      "right": 90.0
+    },
+    "frames": 235,
+    "head_unique_frame_ratio": 0.9574468085106383,
+    "main_camera_policy": "native_dynamic",
+    "maximum_mount_distance_error_m": 4.8924938433891896e-08,
+    "maximum_wrist_consecutive_dark_frames": 0,
+    "maximum_wrist_dark_frame_fraction": 0.0,
+    "minimum_wrist_median_luminance": 155.69774305555555,
+    "parallel_head_unique_frame_ratio": 0.9574468085106383,
+    "preset": {
+      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
+      "fovx_deg": 106.26020470831195,
+      "fovy_deg": 90.0,
+      "gripper_to_camera_matrix": [
+        [
+          0.9886695961968883,
+          -1.5244567471983168e-06,
+          0.15010833103640953,
+          0.06999997201749193
+        ],
+        [
+          1.567728436833223e-06,
+          1.0000000058018184,
+          6.430025196775677e-08,
+          2.011452240730468e-09
+        ],
+        [
+          -0.15010829523993077,
+          1.6325174712825714e-07,
+          0.988669555703279,
+          0.06500000893891618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "height": 240,
+      "name": "centered_fovy90",
+      "overrides_robotwin_default": true,
+      "width": 320
+    },
+    "status": "passed",
+    "wrist_consecutive_dark_frames": {
+      "left": 0,
+      "right": 0
+    },
+    "wrist_dark_frame_fraction": {
+      "left": 0.0,
+      "right": 0.0
+    },
+    "wrist_median_luminance": {
+      "left": 168.01534722222223,
+      "right": 155.69774305555555
+    }
+  },
+  "collision_summary": {
+    "contact_step_indices": [],
+    "first_risk_step": null,
+    "interarm_contact_steps": 0,
+    "minimum_capsule_distance_m": 0.21183016693486717,
+    "moves": {
+      "left_back+right_place": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.21263163595734602
+      },
+      "left_grasp+right_grasp": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.41619512477414317
+      },
+      "left_lift+right_lift": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.4388218083799875
+      },
+      "left_place+right_prepare": {
+        "contact_step_indices": [],
+        "interarm_contact_steps": 0,
+        "minimum_capsule_distance_m": 0.22690896141344932
+      }
+    },
+    "physics_steps_checked": 4068
+  },
+  "episode_index": 9,
+  "motion_cross_check": {
+    "left_back+right_place": {
+      "active_union_frames": 71,
+      "first_motion_frame": [
+        150,
+        150
+      ],
+      "frames": 86,
+      "left_motion_frames": 47,
+      "overlap_frames": 47,
+      "overlap_ratio_active": 0.6619718309859155,
+      "overlap_ratio_all": 0.5465116279069767,
+      "right_motion_frames": 71
+    },
+    "left_grasp+right_grasp": {
+      "active_union_frames": 58,
+      "first_motion_frame": [
+        3,
+        3
+      ],
+      "frames": 73,
+      "left_motion_frames": 58,
+      "overlap_frames": 58,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.7945205479452054,
+      "right_motion_frames": 58
+    },
+    "left_lift+right_lift": {
+      "active_union_frames": 16,
+      "first_motion_frame": [
+        74,
+        74
+      ],
+      "frames": 18,
+      "left_motion_frames": 16,
+      "overlap_frames": 16,
+      "overlap_ratio_active": 1.0,
+      "overlap_ratio_all": 0.8888888888888888,
+      "right_motion_frames": 16
+    },
+    "left_place+right_prepare": {
+      "active_union_frames": 45,
+      "first_motion_frame": [
+        92,
+        92
+      ],
+      "frames": 58,
+      "left_motion_frames": 45,
+      "overlap_frames": 21,
+      "overlap_ratio_active": 0.4666666666666667,
+      "overlap_ratio_all": 0.3620689655172414,
+      "right_motion_frames": 21
+    }
+  },
+  "moves": [
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 73,
+      "end_physics_step": 987,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 0,
+      "name": "left_grasp+right_grasp",
+      "node_ids": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "predecessors": [],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_grasp",
+      "start_frame": 0,
+      "start_physics_step": 0,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 91,
+      "end_physics_step": 1227,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 1,
+      "name": "left_lift+right_lift",
+      "node_ids": [
+        "left_lift",
+        "right_lift"
+      ],
+      "predecessors": [
+        "left_grasp",
+        "right_grasp"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "dual_lift",
+      "start_frame": 73,
+      "start_physics_step": 987,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 149,
+      "end_physics_step": 1984,
+      "held_objects": [
+        "left_shoe",
+        "right_shoe"
+      ],
+      "move_index": 2,
+      "name": "left_place+right_prepare",
+      "node_ids": [
+        "left_place",
+        "right_prepare"
+      ],
+      "predecessors": [
+        "left_lift",
+        "right_lift"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "left_shoe",
+        "right_shoe"
+      ],
+      "semantic_phase": "place+prepare",
+      "start_frame": 91,
+      "start_physics_step": 1227,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    },
+    {
+      "active_arms": [
+        "left",
+        "right"
+      ],
+      "avoidable_idle_seconds": 0.0,
+      "end_frame": 235,
+      "end_physics_step": 3168,
+      "held_objects": [
+        "right_shoe"
+      ],
+      "move_index": 3,
+      "name": "left_back+right_place",
+      "node_ids": [
+        "left_back",
+        "right_place"
+      ],
+      "predecessors": [
+        "left_place",
+        "right_prepare"
+      ],
+      "resources": [
+        "left_arm",
+        "right_arm",
+        "right_shoe"
+      ],
+      "semantic_phase": "retreat+place",
+      "start_frame": 149,
+      "start_physics_step": 1984,
+      "true_dependency_wait_arms": [],
+      "true_dependency_wait_seconds": 0.0
+    }
+  ],
+  "parallelvla_commit": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+  "renderer_validation": {
+    "camera_shader": "rt",
+    "episode": 9,
+    "ray_tracing_denoiser": "optix",
+    "status": "passed"
+  },
+  "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+  "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040",
+  "robotwin_worktree_status": [
+    " M assets/objects/122_metal-spacer-sleeve/asset_spec.json",
+    " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb",
+    " M assets/objects/122_metal-spacer-sleeve/model_data0.json",
+    " M assets/objects/122_metal-spacer-sleeve/points_info.json",
+    " M envs/_base_task.py",
+    " M envs/insert_bolt_sleeve.py",
+    " M envs/utils/pkl2hdf5.py",
+    " M envs/utils/transforms.py",
+    " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py",
+    "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"",
+    "?? .tmp_search_head_pivot.py",
+    "?? .tmp_search_horizontal_regrasp.py",
+    "?? .tmp_search_vertical_roll.py",
+    "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml",
+    "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig",
+    "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml",
+    "?? envs/_base_task.py.orig",
+    "?? envs/insert_bolt_sleeve.py.orig",
+    "?? policy/",
+    "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig",
+    "?? task_config/official_aloha_agilex_clean_50.yml",
+    "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml",
+    "?? task_config/parallelvla_async_grasp_render.yml",
+    "?? task_config/parallelvla_async_render.yml",
+    "?? task_config/parallelvla_clean_pcd.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml",
+    "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml",
+    "?? task_config/parallelvla_clean_pcd_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml",
+    "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml",
+    "?? task_config/parallelvla_eval_pcd.yml",
+    "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml",
+    "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml",
+    "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml",
+    "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml",
+    "?? task_config/parallelvla_official_concurrent_verified_v1.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml",
+    "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml",
+    "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml",
+    "?? task_config/parallelvla_retimed_render.yml",
+    "?? task_config/parallelvla_smoke.yml",
+    "?? task_config/parallelvla_temporal_bias_verified_v1.yml"
+  ],
+  "sampled_frames": 235,
+  "scene_identity": {
+    "left_shoe_pose": [
+      -0.2994123697280884,
+      0.0009724583942443132,
+      0.6399539709091187,
+      0.6529839038848877,
+      0.652416467666626,
+      -0.2714991271495819,
+      -0.27249452471733093
+    ],
+    "right_shoe_pose": [
+      0.2763134241104126,
+      0.03057391382753849,
+      0.639953076839447,
+      0.7053328156471252,
+      0.7044960260391235,
+      -0.055226877331733704,
+      -0.056045953184366226
+    ],
+    "shoe_box_pose": [
+      0.0,
+      -0.12999999523162842,
+      0.6399999856948853,
+      0.5,
+      0.5,
+      -0.5,
+      -0.5
+    ],
+    "shoe_id": 0
+  },
+  "schedule_mode": "dependency_aware_overlap",
+  "schedule_plan": null,
+  "schedule_search": null,
+  "schedule_strategy": "beam_dp",
+  "schema_version": 5,
+  "seed": 14,
+  "seed_policy": "independent",
+  "source_commits": {
+    "parallelvla": "de678c97479a5d00a75e15e6a40e0f6fae14e7c2",
+    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
+    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
+  },
+  "source_files_sha256": {
+    "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11",
+    "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b",
+    "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef",
+    "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e",
+    "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795",
+    "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b",
+    "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3",
+    "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427",
+    "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1",
+    "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf",
+    "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e",
+    "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba",
+    "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9",
+    "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd",
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diff --git a/place_dual_shoes/scene_info.json b/place_dual_shoes/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de375240e309bdf6c0fa9299a9dfc6074ab5662
--- /dev/null
+++ b/place_dual_shoes/scene_info.json
@@ -0,0 +1,1502 @@
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diff --git a/place_dual_shoes/seed.txt b/place_dual_shoes/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc3a82bcf75d2ba183d23d147fd645a5c91e5f80
--- /dev/null
+++ b/place_dual_shoes/seed.txt
@@ -0,0 +1 @@
+0 1 4 3 24 6 25 10 11 14 15 18 19 32 27 33 34 31 40 37 38 39 41 48 43 45 46 47 49 52 53 54 60 64 58 59 62 63 65 68 67 72 76 71 74 75 84 86 82 83 
\ No newline at end of file
diff --git a/place_dual_shoes/validation/episode0.json b/place_dual_shoes/validation/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..460089fd6a39eeb2e397f1dd34bc78c243e9bd21
--- /dev/null
+++ b/place_dual_shoes/validation/episode0.json
@@ -0,0 +1,1490 @@
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diff --git a/place_dual_shoes/validation/episode1.json b/place_dual_shoes/validation/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8993df3f34389c3b1fa1b045df58c49d350ce9c1
--- /dev/null
+++ b/place_dual_shoes/validation/episode1.json
@@ -0,0 +1,1658 @@
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diff --git a/place_dual_shoes/validation/episode10.json b/place_dual_shoes/validation/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c357965654936d8b7053d74346107cb3366b1f4
--- /dev/null
+++ b/place_dual_shoes/validation/episode10.json
@@ -0,0 +1,1598 @@
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diff --git a/place_dual_shoes/validation/episode11.json b/place_dual_shoes/validation/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06d83e38b58c019de2dba6a14cc05bdb34d0ee4
--- /dev/null
+++ b/place_dual_shoes/validation/episode11.json
@@ -0,0 +1,1442 @@
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diff --git a/place_dual_shoes/validation/episode12.json b/place_dual_shoes/validation/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cd84f3c34fb327c757a2745f344e878f3f5a92
--- /dev/null
+++ b/place_dual_shoes/validation/episode12.json
@@ -0,0 +1,1520 @@
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diff --git a/place_dual_shoes/validation/episode13.json b/place_dual_shoes/validation/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..a303b635f0afc82b5cbb5107ee72266abf87483a
--- /dev/null
+++ b/place_dual_shoes/validation/episode13.json
@@ -0,0 +1,1574 @@
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diff --git a/place_dual_shoes/validation/episode14.json b/place_dual_shoes/validation/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa89e0b7f741d5293966058f51d682ecc3387ac0
--- /dev/null
+++ b/place_dual_shoes/validation/episode14.json
@@ -0,0 +1,1424 @@
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diff --git a/place_dual_shoes/validation/episode15.json b/place_dual_shoes/validation/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb475eeb8a1476c9d4fcd6788078bd4a681a0849
--- /dev/null
+++ b/place_dual_shoes/validation/episode15.json
@@ -0,0 +1,1502 @@
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diff --git a/place_dual_shoes/validation/episode16.json b/place_dual_shoes/validation/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50dcb3ce04b61722247eb455080db9fe3008694
--- /dev/null
+++ b/place_dual_shoes/validation/episode16.json
@@ -0,0 +1,1556 @@
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diff --git a/place_dual_shoes/validation/episode17.json b/place_dual_shoes/validation/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6210ce8827df19b2bf638c610d51d558019689
--- /dev/null
+++ b/place_dual_shoes/validation/episode17.json
@@ -0,0 +1,1466 @@
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diff --git a/place_dual_shoes/validation/episode18.json b/place_dual_shoes/validation/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf1d1ca663a5b303572f379f8fb2813f313385e
--- /dev/null
+++ b/place_dual_shoes/validation/episode18.json
@@ -0,0 +1,1490 @@
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diff --git a/place_dual_shoes/validation/episode19.json b/place_dual_shoes/validation/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..9febe09cfc4f25ba645caefe2bbc91e59baf64f5
--- /dev/null
+++ b/place_dual_shoes/validation/episode19.json
@@ -0,0 +1,1568 @@
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diff --git a/place_dual_shoes/validation/episode2.json b/place_dual_shoes/validation/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e2691af7ab12a7fa6238ed1b48786582ebf307
--- /dev/null
+++ b/place_dual_shoes/validation/episode2.json
@@ -0,0 +1,1604 @@
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diff --git a/place_dual_shoes/validation/episode20.json b/place_dual_shoes/validation/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f65709f4080e0f51b67ce2be503898d3b07e48
--- /dev/null
+++ b/place_dual_shoes/validation/episode20.json
@@ -0,0 +1,1472 @@
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diff --git a/place_dual_shoes/validation/episode21.json b/place_dual_shoes/validation/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc52d106c3951ee746ae1c9125a35d016d7806b
--- /dev/null
+++ b/place_dual_shoes/validation/episode21.json
@@ -0,0 +1,1532 @@
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diff --git a/place_dual_shoes/validation/episode22.json b/place_dual_shoes/validation/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ac8fd31c8a85c20125f6539b2fe609f374a804
--- /dev/null
+++ b/place_dual_shoes/validation/episode22.json
@@ -0,0 +1,1442 @@
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diff --git a/place_dual_shoes/validation/episode23.json b/place_dual_shoes/validation/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8fd61e4975a42d994ac8cc0ff96d5f8cef1c45
--- /dev/null
+++ b/place_dual_shoes/validation/episode23.json
@@ -0,0 +1,1700 @@
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diff --git a/place_dual_shoes/validation/episode24.json b/place_dual_shoes/validation/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc82a1c11322ea81934c5f65086ebf7c77d6baf
--- /dev/null
+++ b/place_dual_shoes/validation/episode24.json
@@ -0,0 +1,1628 @@
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diff --git a/place_dual_shoes/validation/episode25.json b/place_dual_shoes/validation/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d72fb3e8d3a79244087b064c69a3d0d0efd99c4
--- /dev/null
+++ b/place_dual_shoes/validation/episode25.json
@@ -0,0 +1,1448 @@
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diff --git a/place_dual_shoes/validation/episode26.json b/place_dual_shoes/validation/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..605fc052a1d8b34cdc89c1fc6778dfff0676d93b
--- /dev/null
+++ b/place_dual_shoes/validation/episode26.json
@@ -0,0 +1,1502 @@
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diff --git a/place_dual_shoes/validation/episode27.json b/place_dual_shoes/validation/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb03543be96ba2dbe5cb7c1ad9d7848c2bc9d2d
--- /dev/null
+++ b/place_dual_shoes/validation/episode27.json
@@ -0,0 +1,1628 @@
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diff --git a/place_dual_shoes/validation/episode28.json b/place_dual_shoes/validation/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3d876c1f671550b326cb590292e95e92208c96
--- /dev/null
+++ b/place_dual_shoes/validation/episode28.json
@@ -0,0 +1,1430 @@
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diff --git a/place_dual_shoes/validation/episode29.json b/place_dual_shoes/validation/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..738807ce85e3bc01dcc190af6a94431b2f94c118
--- /dev/null
+++ b/place_dual_shoes/validation/episode29.json
@@ -0,0 +1,1562 @@
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diff --git a/place_dual_shoes/validation/episode3.json b/place_dual_shoes/validation/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de39c6669d48971e963aab1644267aca103eb2d
--- /dev/null
+++ b/place_dual_shoes/validation/episode3.json
@@ -0,0 +1,1424 @@
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diff --git a/place_dual_shoes/validation/episode30.json b/place_dual_shoes/validation/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..98e66522fde91938da1ab42e921aaa08d29ff70e
--- /dev/null
+++ b/place_dual_shoes/validation/episode30.json
@@ -0,0 +1,1454 @@
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diff --git a/place_dual_shoes/validation/episode31.json b/place_dual_shoes/validation/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa73f566379b5465cc32220c42e1681fc0183aa
--- /dev/null
+++ b/place_dual_shoes/validation/episode31.json
@@ -0,0 +1,1478 @@
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diff --git a/place_dual_shoes/validation/episode32.json b/place_dual_shoes/validation/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccf4795c95c63c5911b3f254f6151d6df676ffe
--- /dev/null
+++ b/place_dual_shoes/validation/episode32.json
@@ -0,0 +1,1496 @@
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diff --git a/place_dual_shoes/validation/episode33.json b/place_dual_shoes/validation/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..b087a9203d0771c6d6644ff32f5bab34ffdb977d
--- /dev/null
+++ b/place_dual_shoes/validation/episode33.json
@@ -0,0 +1,1550 @@
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diff --git a/place_dual_shoes/validation/episode34.json b/place_dual_shoes/validation/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..956ac875df90f1669b4be32803e4ee2d7fa00cbf
--- /dev/null
+++ b/place_dual_shoes/validation/episode34.json
@@ -0,0 +1,1586 @@
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diff --git a/place_dual_shoes/validation/episode35.json b/place_dual_shoes/validation/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c06f7ccc37eaf7fd6fc90cc237736593a4b2820
--- /dev/null
+++ b/place_dual_shoes/validation/episode35.json
@@ -0,0 +1,1496 @@
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diff --git a/place_dual_shoes/validation/episode36.json b/place_dual_shoes/validation/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..975b1eb856e00137f9d968a6a8a5374c8bb90d9a
--- /dev/null
+++ b/place_dual_shoes/validation/episode36.json
@@ -0,0 +1,1508 @@
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diff --git a/place_dual_shoes/validation/episode37.json b/place_dual_shoes/validation/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf331a3c604c4e2ae5972d10030fb1abda105a5b
--- /dev/null
+++ b/place_dual_shoes/validation/episode37.json
@@ -0,0 +1,1586 @@
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diff --git a/place_dual_shoes/validation/episode38.json b/place_dual_shoes/validation/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..688d97fea742665e2e44f749382f47f6fdfbfa13
--- /dev/null
+++ b/place_dual_shoes/validation/episode38.json
@@ -0,0 +1,1484 @@
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diff --git a/place_dual_shoes/validation/episode39.json b/place_dual_shoes/validation/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab9f5a5e48c9c9f9cd0f6f6667f2570406dab5a
--- /dev/null
+++ b/place_dual_shoes/validation/episode39.json
@@ -0,0 +1,1514 @@
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diff --git a/place_dual_shoes/validation/episode4.json b/place_dual_shoes/validation/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e75fc50142a288cf8b4e8ed26593fab7357537a
--- /dev/null
+++ b/place_dual_shoes/validation/episode4.json
@@ -0,0 +1,1556 @@
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diff --git a/place_dual_shoes/validation/episode40.json b/place_dual_shoes/validation/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a85d64223e9856e2b57f32c1050c70911b880e8
--- /dev/null
+++ b/place_dual_shoes/validation/episode40.json
@@ -0,0 +1,1466 @@
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diff --git a/place_dual_shoes/validation/episode41.json b/place_dual_shoes/validation/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..737e6c89c52f200d0f0d87f7e12bdc84a6f9bdda
--- /dev/null
+++ b/place_dual_shoes/validation/episode41.json
@@ -0,0 +1,1526 @@
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diff --git a/place_dual_shoes/validation/episode42.json b/place_dual_shoes/validation/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f72a30a3cdefb66c63aae588ab9df889a59f15
--- /dev/null
+++ b/place_dual_shoes/validation/episode42.json
@@ -0,0 +1,1640 @@
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diff --git a/place_dual_shoes/validation/episode43.json b/place_dual_shoes/validation/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..34deb4e5b6b0d95ebdfcc09c3584dc0f408285f8
--- /dev/null
+++ b/place_dual_shoes/validation/episode43.json
@@ -0,0 +1,1502 @@
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diff --git a/place_dual_shoes/validation/episode44.json b/place_dual_shoes/validation/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3d10469508fd820ba8fd1be18f08078d099cf4
--- /dev/null
+++ b/place_dual_shoes/validation/episode44.json
@@ -0,0 +1,1460 @@
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diff --git a/place_dual_shoes/validation/episode45.json b/place_dual_shoes/validation/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1602f026098b48c9ec1069120a60733b6f3ff2
--- /dev/null
+++ b/place_dual_shoes/validation/episode45.json
@@ -0,0 +1,1472 @@
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diff --git a/place_dual_shoes/validation/episode46.json b/place_dual_shoes/validation/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ed4a190e5f651b5a68d4055936083a55e4eb82
--- /dev/null
+++ b/place_dual_shoes/validation/episode46.json
@@ -0,0 +1,1442 @@
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diff --git a/place_dual_shoes/validation/episode47.json b/place_dual_shoes/validation/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..1998ecd4760cbe41f023f800cb991fe4aacea0d1
--- /dev/null
+++ b/place_dual_shoes/validation/episode47.json
@@ -0,0 +1,1574 @@
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diff --git a/place_dual_shoes/validation/episode48.json b/place_dual_shoes/validation/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..83df558157aec6442bb73ec8692c51d0cd899c1b
--- /dev/null
+++ b/place_dual_shoes/validation/episode48.json
@@ -0,0 +1,1694 @@
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diff --git a/place_dual_shoes/validation/episode49.json b/place_dual_shoes/validation/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77af04bf1c992c828f04b94ecc89dbc762d188a
--- /dev/null
+++ b/place_dual_shoes/validation/episode49.json
@@ -0,0 +1,1436 @@
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diff --git a/place_dual_shoes/validation/episode5.json b/place_dual_shoes/validation/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9423f2fbc0ad08bbbc2bbb1ab51b03be9000770
--- /dev/null
+++ b/place_dual_shoes/validation/episode5.json
@@ -0,0 +1,1562 @@
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diff --git a/place_dual_shoes/validation/episode6.json b/place_dual_shoes/validation/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d3d8f1ad1615d4a68023d177eb1d0b230cd637
--- /dev/null
+++ b/place_dual_shoes/validation/episode6.json
@@ -0,0 +1,1484 @@
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diff --git a/place_dual_shoes/validation/episode7.json b/place_dual_shoes/validation/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..393f79d10f641435765935a3163448e7a63900b2
--- /dev/null
+++ b/place_dual_shoes/validation/episode7.json
@@ -0,0 +1,1568 @@
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diff --git a/place_dual_shoes/validation/episode8.json b/place_dual_shoes/validation/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ba1d5c6ec4ee27df81096d99f212121281f0d7
--- /dev/null
+++ b/place_dual_shoes/validation/episode8.json
@@ -0,0 +1,1616 @@
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diff --git a/place_dual_shoes/validation/episode9.json b/place_dual_shoes/validation/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..123a4a7a96e6da93e9c16127be8aef74a22cb257
--- /dev/null
+++ b/place_dual_shoes/validation/episode9.json
@@ -0,0 +1,1544 @@
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