diff --git a/.gitattributes b/.gitattributes
index d55bbea881dd9fdbf4b772104269fbacd12c0c9a..c46d3fb9ee793ef9f1fba9c1720603e8c93bdc63 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -218,3 +218,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2026-09-14_05-21-39_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-17_02-39-16_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-17_10-42-26_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-20_04-12-57_vlanext/BananaInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13564ea26d6d64e12982d8931d7df6f83e43efd6
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf49718171d4481ac0d3dcca369b16475c80069c9814c3f741020f1086ab4aad
+size 18047952
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7712f4d1ceaaa83c35b9f086417157cf429589c
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c4524a2ab30f94a89620cb641afc13be47dbfc76713baf6eeaad0298b93bb5
+size 4028926
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48cb38a3418b2326c8ea4e88493675e9a72a4b7a
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b98a542261d46b839347e923b5587dc82e13e15ad9a4eb8244fd1d06f1cfdae
+size 18612356
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b172bf648dba72c365ead8d454bcfc962fc453e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb54f15345020c19442ecd373cfdc316c85ffaec29b0d09da6478e2800e5401b
+size 17626548
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a08bb475ddcd32a14120ad8a0ac173b6c504d640
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env10_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea5e1a65eaf64d35f0706e78f7ee963a2b38f8027010747b22e4f520a69b9710
+size 3861797
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cba268808dde5aadbcfb0ba1ee8d6d97b81d3ff1
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a0b9f27b8fb4ec19cbda540a4d446406d236e93321a959159e0ed2ef1619bd
+size 17897631
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af4d3fb5a857ce3c55fefcb0073a117f41e6581f
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env11_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5181ad108271f35d022ff27187a8eccdf1f04cd9d20b214d6b8aab11ae346aac
+size 4513559
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3aecd8db098aacb73da3b8ee61371b18339f0700
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7ec6ae1f9d03ddced0b7656d3ad0bf01ce9df13d1890c74d3287c35b665f8d
+size 17718192
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b5db3fe8a5bb2ca53f80d2d85d9284c2b1f168e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env12_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bd778906afc109bedec0a37305addf513cbac3f19f584f9a0e2a6feaa8cd53
+size 4258641
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b083e212781b21f24673ffaf38c75af65747c7f
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7603523b69b468b9489bd94d932dc992c508e22bd29dd157b220d6a6e204cc
+size 17270202
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..209f7913b4c73936de09e045f2e44dcd4fc43484
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env13_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65899d656d1950ca9ca325e0e0474ca1752f04b366878809e88e2980f5fa290
+size 3763706
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cb28d1a15da8ee493fbacf85fc05a1aed8835e7
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5201b71d2b8e296f9155d59767e216c88bce17476434d3b668b03c9c38ad4c
+size 18380148
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..928fd0ff54dc110a37b6885de8059449c41e4b22
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env14_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850aeade7fe67188af2966c669c9cfdc31219ea5bbb69e00a6c7c8948878ed00
+size 3962270
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6fa2935a107a69f08dbc3ccd501492ddd57f6bb
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2031d57cad93fd2a391a4e1eb13882fd4f82192e5c6af713a843192dcc9c11a4
+size 17536940
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..171fbd9fe15a89b6389a58c74e648e1e6074a63f
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env15_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4addcfb00f6c8bacf8f754d381b729815e1f701c7c4b639de9f08ec70679e9f
+size 3280318
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67c893269431f0e1d256043f88f5146278569e14
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff5d11f6650e9e526c508c801bd587604b252224793cdb86d559379e7dbe183
+size 17492305
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8da9910494bb67d63d5070cadda4a7ee3907b4d8
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env16_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ea519d44c5255305b763ec55f5e0c252ed0cb7a3b366ed12c67cef0704e3aa
+size 3910296
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1f680dfe70c1cc48cd6b0f8aea41077f85e2c9b
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5c9537a8c2b9059552dbf57b84efb4042c35c51b545326e7337b99902278d0
+size 18211946
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c35251abcd46624e16776ff9a71fa1163aee652
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env17_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a31edf0b702e2fca909ca140b6019f59da66a2c7c7150211226ea32c337847f
+size 3368128
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b09e937cf6a248e4133f3e40096f2e71fb43891
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41128c722f034f34820c7547dfe4c64ec724527a66a81228e7cad1e28099350e
+size 17484132
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54d66df81d48f6c6bb851fdaa8af735a7c37be69
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env18_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e312d0ef49328f17738a6768b310a8f4f99fa615098f92b08c5963f7c6f2894f
+size 3665831
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f11b1d3f49018f359886f82b934fc93901b7e2e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4475c95b7c58991f757cb07b47f0f9504542213e704b8008a7a39758518873
+size 17672135
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7117134333d3c24a7a0068b9d6a3fe1be67bf837
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env19_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098ce0f7960e6db5e7045bacba4a11782aa9ee68282b49a4599b539e4eb119bb
+size 3965351
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..692c281423745bb7f5532474ca3186a045ea9259
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b99860113ca6f5bde58e0f2145ebd43ad413682bf5aa77e3f97611d9f99ee376
+size 3860879
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ffbe8ff88f866b41ea01e3467ef5a83e4bd5558
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f7190abf476b0ef18e169e75d526293edf839050505bc2f4ca4927a40d0a2d
+size 17114022
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0415ee2e2b8a7fa7bf093803f25180552020788e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559c35bf4b773a87acda14bcab73ef54984e658f899c09e0b0fd51c9aa3447f1
+size 2935668
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a40d410815b2b140123f8e521e49238b770d983
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be071f22d9edf461005b8a27c683bea7b210545fdac85750c8d15491619ce09d
+size 17794382
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed99303326734cf813aaf53a4feca2d8c0db14af
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env3_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795df503f5c699ea8d36d2ea410fe4c840f80b2a8d12b22846c6fc3ea38dd687
+size 4187966
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5680f4fa60ffe8528adc8bfc2fdb7d08f2c464ba
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b720d4b54219d6bc7bf444c7fa9d2ac11bca39b5970bdfae98b042f5bb4edd4
+size 17838136
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91368dca095623d3593cf2ee95a695793041d9e5
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env4_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ba202ba43cf09ea5be91ee931e9ee8614ce1fcbc49088a6a5a918755dd72708
+size 4031346
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b197d9e4cf6e135a017ae93be721f334ffcc9ee7
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb82443698cdf331b3b39b700de86d2f27344bdfb89f2ef305d0bd8a8fc255f2
+size 18226101
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..762f901576ac0d5e2ed5499ca9764a418c847ca3
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env5_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcc120b792dd21c709fece44b6124b6accce07f39cd5e84adc96cc664700f831
+size 3424091
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11084b3689678b150967a48ac80378e564850965
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c8c3bef1cd73df8c8a5a04c6f8102785004e839101f272f734f1c2ab3788b2f
+size 18645444
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be33f2818690fd4d0cafce40d67e42f156b65608
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env6_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ee2180011d2634d856b7c5b4b08003f929682158939afbfe9acdd23f382dbe
+size 4098792
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5df2dfa2b8ab3658c3e4943646b01f6d32f7681
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852903e7629a5ad97f022ee6552ff308a01333f177b9812891f9347efa2898ba
+size 17902937
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8c3cd02911e8ba337436cc43f0e41007e87d704
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env7_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405ec93e94c1b4b8f4c823f223e33e0648e76b27d1a310b36a6d55bc734871b5
+size 3816988
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e6343a12f0af58ae312ff0d61ee0fa747477d97
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d6030d745c4d0ee188dfd531acf468cf9cc2330289b92d2e01dcb326c37a38
+size 16871288
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b3234a53e7c24b5679d5c0371794cf4c658ad32
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env8_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f28c3b0b03eae9fc7b54b11d1831c6d797069bd2273cc594144372cc6b5f54
+size 2889238
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5495834e8ebfca941ac0b3c4b654007032becdb7
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451b02dffc4e0420b0ce847c93586d6fcb52d60c734f081d4e523c59d084d9cc
+size 17271259
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9_viewport.mp4 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7ee799f640ca10fd92f1c2c02d66d4855cab05b
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_env9_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5bdbf86f0ae2f054a8af2a8f45958c6ed47f35086723d89fcc481675ab5117
+size 4241585
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/env_cfg.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..086e33066401c0f1a16c70b69b54ddfc13c482b3
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 20, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471946001052856, -5.8164543588645756e-05, -0.3470015227794647], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.5611012578010559, 0.15261490643024445, 0.030349360778927803], "rot": [0.9999998211860657, -0.00038860940411786313, -0.00045113630375182354, 5.555720606926124e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5097271203994751, -0.115806944668293, 0.02117740921676159], "rot": [0.9999991655349731, -0.0006239555700669702, -0.0011311464245367135, -1.079676892718864e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/output/2026-09-20_04-12-57_vlanext/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f84bf548860>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f84bf548360>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 20, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env0.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05146c7ff9b74a887e0a86efdf627989ddfb9e8f
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 750, "events": [{"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 670, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env1.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cec34962c68d453f712626d097bd5875e3e7335
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 750, "events": [{"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env10.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e23d990f23f455357c77ceb85e6d0b870dfc86
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 10, "run": 0, "success": false, "final_step": 750, "events": [{"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 368, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env11.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..669c0010c0a66eeb6b866f8919b326ba789964af
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 11, "run": 0, "success": false, "final_step": 750, "events": [{"step": 52, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env12.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..8534a3cc2e5504b5b4aa8841c2b48175addce0ae
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 12, "run": 0, "success": false, "final_step": 750, "events": [{"step": 43, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 446, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env13.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff41727dd8f5881d64150ce2356c01abdc60fcab
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 13, "run": 0, "success": false, "final_step": 750, "events": [{"step": 65, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env14.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a397eed6720f8d29025da2b3d5d65b38903733
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 14, "run": 0, "success": false, "final_step": 750, "events": [{"step": 45, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 669, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env15.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ff1d34bb8f3aebf3f91ef9943d262a3ec5b49b
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 15, "run": 0, "success": false, "final_step": 750, "events": [{"step": 43, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 220, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env16.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..16325c5acef6b761cdee29514e2940bc0c6780d1
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 16, "run": 0, "success": false, "final_step": 750, "events": [{"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 566, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 611, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 639, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env17.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..11305b793b1d771da15ecfbf088a0074af7d5876
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env17.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 17, "run": 0, "success": false, "final_step": 750, "events": [{"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env18.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env18.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ffdc05ba167cb11735b772f46baed521ca43c7
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env18.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 18, "run": 0, "success": false, "final_step": 750, "events": [{"step": 40, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 416, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 656, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env19.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env19.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b392fc0a1cdc5411a62852c2f072d2a058591f5
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env19.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 19, "run": 0, "success": false, "final_step": 750, "events": [{"step": 25, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 576, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env2.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ffe1b2abd58f13420425e7322def5a8aefb3b4d
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 750, "events": [{"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env3.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff68ac9d5e69a2b4ac5744d6b804b2e72eb8c70
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 3, "run": 0, "success": false, "final_step": 750, "events": [{"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 558, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env4.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1786c5decf0b373a844597eef24911c052885c4
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 750, "events": [{"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 322, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 334, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.168m", "score": 0.0}, {"step": 344, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.059m", "score": 0.0}, {"step": 363, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 369, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.056m", "score": 0.0}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 566, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env5.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f84e3b27d90606b6ac9a0f0313f6e4299abc9f
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 750, "events": [{"step": 65, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env6.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf815f94a4109dfe8a94641e92a297c017b14f3
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 750, "events": [{"step": 67, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 72, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.062m", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.064m", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.157m", "score": 0.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 309, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.085m", "score": 0.0}, {"step": 469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env7.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8924b3e68160b96b8abf7757d3b342a5344b03
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 7, "run": 0, "success": false, "final_step": 750, "events": [{"step": 35, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 47, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.056m", "score": 0.0}, {"step": 52, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 64, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 159, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 595, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env8.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..beb34d64bf2ac8231ad3b8d0e50fec7e43b39839
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 8, "run": 0, "success": false, "final_step": 750, "events": [{"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env9.json b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20b0b03e69560f318db13811eb364d52388ee1e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 9, "run": 0, "success": false, "final_step": 750, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 625, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 729, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-20_04-12-57_vlanext/BananaInBowlTask/run_0.hdf5 b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3696e8cc2fc2e825411b7e9cd4ca6857ab2f438c
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/BananaInBowlTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75bf7bd1905575f02ea8038dab969cfe8a95007c86e0963fec35af0749d40477
+size 7335988
diff --git a/2026-09-20_04-12-57_vlanext/episode_results.jsonl b/2026-09-20_04-12-57_vlanext/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10db329eb0da028aaa9d2aa0d5a8556e86e3522e
--- /dev/null
+++ b/2026-09-20_04-12-57_vlanext/episode_results.jsonl
@@ -0,0 +1,20 @@
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.718261072008308, "joint_sparc_mean": -7.763097855008792, "ee_isj": 146.70779382509312, "joint_isj": 2522.2438851706274, "ee_path_length": 2.780073795105276, "joint_rmse_mean": 0.016318930299069594, "ee_speed_max": 0.19689147174358368, "ee_speed_mean": 0.052464064210653305}, "events": {"GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.337966376725732, "joint_sparc_mean": -6.5129914683038646, "ee_isj": 175.91153523623495, "joint_isj": 3166.7050480972307, "ee_path_length": 3.8760317853365733, "joint_rmse_mean": 0.026489012264167174, "ee_speed_max": 0.32938989996910095, "ee_speed_mean": 0.07287158071994781}, "events": {"GRIPPER_FULLY_CLOSED": 10}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.906139124815386, "joint_sparc_mean": -7.256022542772517, "ee_isj": 200.70230395649472, "joint_isj": 2329.261387750028, "ee_path_length": 4.590604466154559, "joint_rmse_mean": 0.023585710849470327, "ee_speed_max": 0.3767024874687195, "ee_speed_mean": 0.08778777718544006}, "events": {"GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.685334403976528, "joint_sparc_mean": -8.225024658864458, "ee_isj": 185.53561534653022, "joint_isj": 2985.9096424591526, "ee_path_length": 3.53500207360463, "joint_rmse_mean": 0.02153948112297079, "ee_speed_max": 0.227598637342453, "ee_speed_mean": 0.06694529205560684}, "events": {"GRIPPER_FULLY_CLOSED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.92535240895629, "joint_sparc_mean": -7.5258657730084595, "ee_isj": 151.50312948435837, "joint_isj": 3757.0106453788976, "ee_path_length": 3.4411246690282855, "joint_rmse_mean": 0.023494136335799116, "ee_speed_max": 0.22575603425502777, "ee_speed_mean": 0.06582383066415787}, "events": {"GRIPPER_FULLY_CLOSED": 8, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 3, "wrong_objects_grabbed": ["bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.094265210070897, "joint_sparc_mean": -5.464430191415204, "ee_isj": 110.41941542953133, "joint_isj": 2022.163153296155, "ee_path_length": 3.4235498580250754, "joint_rmse_mean": 0.019867937279075466, "ee_speed_max": 0.2757646143436432, "ee_speed_mean": 0.0646367222070694}, "events": {"GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.117894990212987, "joint_sparc_mean": -6.676700825629718, "ee_isj": 217.64650621926836, "joint_isj": 5814.438763717356, "ee_path_length": 4.060239852271524, "joint_rmse_mean": 0.030712374633969416, "ee_speed_max": 0.27218055725097656, "ee_speed_mean": 0.07600092887878418}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 4, "GRIPPER_FULLY_CLOSED": 7, "wrong_objects_grabbed": ["bowl", "bowl", "bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.2108847915993195, "joint_sparc_mean": -6.382380159190845, "ee_isj": 183.85272417159655, "joint_isj": 8082.074690961372, "ee_path_length": 3.3301840583504987, "joint_rmse_mean": 0.028126359579464293, "ee_speed_max": 0.19896596670150757, "ee_speed_mean": 0.06336712837219238}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "GRIPPER_HIT_TABLE": 1, "GRIPPER_FULLY_CLOSED": 8, "WRONG_OBJECT_GRABBED": 3, "TARGET_OBJECT_DROPPED": 3, "wrong_objects_grabbed": ["bowl", "bowl", "bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.068379332114078, "joint_sparc_mean": -5.779972567652302, "ee_isj": 139.64122209864968, "joint_isj": 2736.6189118977854, "ee_path_length": 4.160045483464098, "joint_rmse_mean": 0.023634302024421017, "ee_speed_max": 0.3051302433013916, "ee_speed_mean": 0.07832098752260208}, "events": {"GRIPPER_FULLY_CLOSED": 7}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.963552512654836, "joint_sparc_mean": -8.362931672074385, "ee_isj": 229.35134161053367, "joint_isj": 7011.3894557535805, "ee_path_length": 3.0386241502947158, "joint_rmse_mean": 0.021967865093123706, "ee_speed_max": 0.21520790457725525, "ee_speed_mean": 0.05724897235631943}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 10, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 10, "env_id": 10, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.911102047172234, "joint_sparc_mean": -7.4560114166844675, "ee_isj": 124.43878320206294, "joint_isj": 1902.4547271500353, "ee_path_length": 3.3773130085080956, "joint_rmse_mean": 0.017044550898092783, "ee_speed_max": 0.3244776725769043, "ee_speed_mean": 0.06398691982030869}, "events": {"GRIPPER_FULLY_CLOSED": 10}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 11, "env_id": 11, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.5160900202321494, "joint_sparc_mean": -9.229830824762818, "ee_isj": 165.29446608520783, "joint_isj": 14870.309634860514, "ee_path_length": 3.2779638410095693, "joint_rmse_mean": 0.020160154677207356, "ee_speed_max": 0.2336282581090927, "ee_speed_mean": 0.06221741810441017}, "events": {"GRIPPER_HIT_TABLE": 1, "GRIPPER_FULLY_CLOSED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 12, "env_id": 12, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.413354839590644, "joint_sparc_mean": -7.450244366156539, "ee_isj": 146.28081077650367, "joint_isj": 2375.5742879450286, "ee_path_length": 2.8172404740914647, "joint_rmse_mean": 0.017935303491856024, "ee_speed_max": 0.20845270156860352, "ee_speed_mean": 0.05315680056810379}, "events": {"GRIPPER_FULLY_CLOSED": 11}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 13, "env_id": 13, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.622154053830047, "joint_sparc_mean": -8.001836644088302, "ee_isj": 156.4557958163839, "joint_isj": 5612.7406055451565, "ee_path_length": 4.0498086081849625, "joint_rmse_mean": 0.02746304467681435, "ee_speed_max": 0.347169429063797, "ee_speed_mean": 0.07588889449834824}, "events": {"GRIPPER_FULLY_CLOSED": 8, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 14, "env_id": 14, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.982990988595473, "joint_sparc_mean": -9.073978126744988, "ee_isj": 141.46603150525655, "joint_isj": 2076.02629443155, "ee_path_length": 3.5530733280745803, "joint_rmse_mean": 0.018588060733523464, "ee_speed_max": 0.2847452461719513, "ee_speed_mean": 0.06719256937503815}, "events": {"GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 15, "env_id": 15, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.245469215800089, "joint_sparc_mean": -8.326600753032775, "ee_isj": 144.90041457777767, "joint_isj": 4172.1473809853, "ee_path_length": 3.1823050195721123, "joint_rmse_mean": 0.019091029655272602, "ee_speed_max": 0.2738344371318817, "ee_speed_mean": 0.06028749421238899}, "events": {"GRIPPER_FULLY_CLOSED": 10, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 16, "env_id": 16, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.218505136334244, "joint_sparc_mean": -7.184957487714689, "ee_isj": 223.27660395205194, "joint_isj": 8364.297818502237, "ee_path_length": 2.927683096811114, "joint_rmse_mean": 0.017745582950903418, "ee_speed_max": 0.2776603102684021, "ee_speed_mean": 0.056364756077528}, "events": {"GRIPPER_FULLY_CLOSED": 12, "GRIPPER_HIT_TABLE": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 17, "env_id": 17, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.498972090841991, "joint_sparc_mean": -7.455465392332822, "ee_isj": 142.679306376232, "joint_isj": 4037.372219057198, "ee_path_length": 3.674880442239829, "joint_rmse_mean": 0.021577279421947277, "ee_speed_max": 0.2674923539161682, "ee_speed_mean": 0.06906434148550034}, "events": {"GRIPPER_FULLY_CLOSED": 6, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "wrong_objects_grabbed": ["bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 18, "env_id": 18, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.0430944443609595, "joint_sparc_mean": -8.315190568500126, "ee_isj": 151.87407700324957, "joint_isj": 2962.2065879330407, "ee_path_length": 3.728534016476436, "joint_rmse_mean": 0.02502575561671724, "ee_speed_max": 0.27523356676101685, "ee_speed_mean": 0.0711936354637146}, "events": {"GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}
+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 19, "env_id": 19, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.01543524753037, "joint_sparc_mean": -7.314237653331433, "ee_isj": 235.64764032410866, "joint_isj": 42581.708450031765, "ee_path_length": 3.9165580680849983, "joint_rmse_mean": 0.02400472405866962, "ee_speed_max": 0.30434104800224304, "ee_speed_mean": 0.07604426890611649}, "events": {"GRIPPER_HIT_TABLE": 1, "GRIPPER_FULLY_CLOSED": 7, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "wrong_objects_grabbed": ["bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 598.296, "policy_inference_avg_ms": 797.7, "env_step_s": 178.228, "env_step_avg_ms": 237.6, "video_write_s": 99.729, "video_write_avg_ms": 133.0, "wall_total_s": 876.253, "it_per_sec": 0.86}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=banana) (step 1/2)"}