diff --git a/.gitattributes b/.gitattributes
index 81b5a48292a658ad0a16cadb515a426c792eb492..e350329f93781fb53da04f67d5ca7b325ac682c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -203,3 +203,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2026-09-08_11-27-14_vlanext/BlockStackingOrderAgnosticTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-08_11-27-14_vlanext/BlockStackingSpecifiedOrderTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
 2026-09-08_11-27-14_vlanext/BlocksInBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-08_11-27-14_vlanext/BowlInBinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
+2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env15.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..9981b6575dc633c0f4a72c926eeb95b4e150c13c
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 15, "run": 0, "success": false, "final_step": 900, "events": [{"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bowl'])", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 249, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.204m", "score": 0.0}, {"step": 302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.134m", "score": 0.0}, {"step": 370, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 417, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 420, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 545, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 559, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 561, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 562, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 567, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.126m", "score": 0.0}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 783, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 789, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 819, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.125m", "score": 0.0}, {"step": 845, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.101m", "score": 0.0}, {"step": 847, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env16.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d68ba90b29200d8c8f72a74a49640458b1d114
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 16, "run": 0, "success": false, "final_step": 900, "events": [{"step": 23, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 121, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 135, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 138, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 156, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 355, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.213m", "score": 0.0}, {"step": 355, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'dry_erase_marker' nudged 0.090m", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 840, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 844, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 860, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env17.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..1198acb7568ef4beffc1de38aabb3f7d5faf55d5
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env17.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 17, "run": 0, "success": false, "final_step": 900, "events": [{"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 38, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.091m", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 823, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.051m", "score": 0.0}, {"step": 865, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 892, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env18.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env18.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21eb4d966a863967b024eda2237081c56489224
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env18.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 18, "run": 0, "success": false, "final_step": 900, "events": [{"step": 53, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 88, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.110m", "score": 0.0}, {"step": 187, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl'])", "score": 0.0}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 651, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.082m", "score": 0.0}, {"step": 841, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 887, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env19.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env19.json
new file mode 100644
index 0000000000000000000000000000000000000000..04108a06238a6118a9cdcff095cc5943632246f7
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env19.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 19, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bowl'])", "score": 0.0}, {"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 89, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 101, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.066m", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.109m", "score": 0.0}, {"step": 127, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.110m", "score": 0.0}, {"step": 134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.114m", "score": 0.0}, {"step": 217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.113m", "score": 0.0}, {"step": 489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bowl'])", "score": 0.0}, {"step": 510, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 598, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 606, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env2.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1e8fd8e21e53d088a3915af16a2a3c6150bde2
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 90, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bowl'])", "score": 0.0}, {"step": 104, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.062m", "score": 0.0}, {"step": 419, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bowl'])", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 611, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env3.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7101f83c9fea8f2cc82cdde4b74143124933b17
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env3.json
@@ -0,0 +1 @@
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diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env4.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env4.json
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diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env5.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env5.json
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diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env6.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env6.json
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diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env7.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env7.json
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diff --git a/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env8.json b/2026-09-08_11-27-14_vlanext/BowlInBinTask/log_0_env8.json
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"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/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask", "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": 20, "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": ["bowl_2"], "container": "bowl_1", "gripper_name": "gripper", "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_in_container at 0x7f157e745580>, object=['bowl_2'], container='bowl_1', gripper_name='gripper', require_contact_with=True, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_bowl_left_on_right"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "BowlStackingLeftOnRightTask", "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": "Stack the left bowl on the right bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the left bowl on the right bowl", "vague": "Stack the left bowl on the right", "specific": "Pick up the bowl to the left of the robot and place it on top of the bowl to the right of the robot"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env0.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe562a05b77a45274d99cc8ded34c01fc3bd5bf8
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 85, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 85, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 90, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 98, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 131, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.184m", "score": 0.0}, {"step": 160, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.078m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env1.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cdc60d8be13a4c17fdb0d73d2e7c94d4458b83b
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 1, "run": 0, "success": false, "final_step": 300, "events": [{"step": 59, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 123, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 152, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 181, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 204, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 278, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env10.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0039c00d9a3edd900c8eb0c0aa2877f306f509
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 10, "run": 0, "success": false, "final_step": 300, "events": [{"step": 70, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 104, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.089m", "score": 0.0}, {"step": 135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 271, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env11.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2bbd63b9dcd3032fae35e3a2de88e6888ef813b
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 11, "run": 0, "success": false, "final_step": 300, "events": [{"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env12.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a9bd037d03891f2ed349964fe89d6df3e399fb
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 12, "run": 0, "success": false, "final_step": 300, "events": [{"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env13.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..d801eb96aaa539ab1c4fa7133e2ed1c4775d079a
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 13, "run": 0, "success": false, "final_step": 300, "events": [{"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env14.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80d3bc87c8407bb6368dbc0f8db1cee7028cf0c
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 14, "run": 0, "success": false, "final_step": 300, "events": [{"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 184, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 198, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.175m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env15.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f5089c98d0ce8f043533d0bc42cdb98a11c17b
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 15, "run": 0, "success": false, "final_step": 300, "events": [{"step": 84, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.051m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env16.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3eb33be781232391f68d5038015ab95b9d20079
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingLeftOnRightTask", "env_id": 16, "run": 0, "success": false, "final_step": 300, "events": [{"step": 125, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 259, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env17.json b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e1cbbb3aee13bd21d8528edfab26c98b0c17ba
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingLeftOnRightTask/log_0_env17.json
@@ -0,0 +1 @@
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"_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env0.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce128b382769bbf51257f03e4aaf20cf84d4b1b
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 61, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.081m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env1.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..505337cbc200cb07a68bc489c781ee61f3df287c
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 1, "run": 0, "success": false, "final_step": 300, "events": [{"step": 51, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 82, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 115, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 117, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 127, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env10.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..90348a0afe4ce99c2ec8696cbb1bff913f404944
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 10, "run": 0, "success": false, "final_step": 300, "events": [{"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env11.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..78aa95bb6f2eb4a2c2cda3c96b2460f0f879f817
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 11, "run": 0, "success": false, "final_step": 300, "events": [{"step": 45, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 282, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env12.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea3cf3776083ecf27ff3fcc1931f6ec9d7dc69e
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 12, "run": 0, "success": false, "final_step": 300, "events": [{"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 75, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 91, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 180, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 213, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env13.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f49e6e2a3369f766f522f1c5ea1b6df1559720
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 13, "run": 0, "success": false, "final_step": 300, "events": [{"step": 69, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.185m", "score": 0.0}, {"step": 182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env14.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0dee9df551cdb188571995a01bc70d44d21b4de
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 14, "run": 0, "success": false, "final_step": 300, "events": [{"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 163, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env15.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a88e9c4f54a0920b04471e8c43adc4007277d00
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 15, "run": 0, "success": false, "final_step": 300, "events": [{"step": 102, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 125, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env16.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3539dfe076c15b3cff407b282caf9e2d7348df
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 16, "run": 0, "success": false, "final_step": 300, "events": [{"step": 231, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 231, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 237, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 238, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.144m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env17.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a1b7a0e453ce31d70858b6761fc2136e205da8
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env17.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 17, "run": 0, "success": false, "final_step": 300, "events": [{"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.156m", "score": 0.0}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env18.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env18.json
new file mode 100644
index 0000000000000000000000000000000000000000..23cc9b59f1855575d608e04cef57f921f89991ad
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env18.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 18, "run": 0, "success": false, "final_step": 300, "events": [{"step": 79, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 80, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 80, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 81, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 114, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.204m", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.052m", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.081m", "score": 0.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 299, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env19.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env19.json
new file mode 100644
index 0000000000000000000000000000000000000000..370edfb245f942d34cd299d3677f37c8483cbb5b
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env19.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 19, "run": 0, "success": false, "final_step": 300, "events": [{"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 105, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.152m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env2.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b6f675c164489faf3245055a2ce410e1f7b7c0
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 2, "run": 0, "success": false, "final_step": 300, "events": [{"step": 41, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 65, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 65, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env3.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a430332c3ebbb8395ceaddae1d38e3b5cab93344
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 3, "run": 0, "success": false, "final_step": 300, "events": [{"step": 67, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 212, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env4.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..eade74f41f1e63629c00bd56eb38022167e3d983
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 4, "run": 0, "success": false, "final_step": 300, "events": [{"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.175m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env5.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..25fc3f770602b8730e4a0727f53212f55880429c
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 5, "run": 0, "success": false, "final_step": 300, "events": [{"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env6.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4dde67f065804ec926a4a1991bf3194ed5f9beb
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 6, "run": 0, "success": false, "final_step": 300, "events": [{"step": 52, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 63, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 70, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.092m", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 189, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 197, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 242, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.133m", "score": 0.0}, {"step": 256, "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_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.102m", "score": 0.0}, {"step": 292, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env7.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..6551a52f018787090987506daa8c8011b7ade7c7
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 7, "run": 0, "success": false, "final_step": 300, "events": [{"step": 106, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 123, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env8.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca1325bb9b72dd3c792aada6ef3b7fc4c1b44bb6
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 8, "run": 0, "success": false, "final_step": 300, "events": [{"step": 96, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env9.json b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b40c7a1747f6e8e0eebefd754caba22ac9c665
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/BowlStackingRightOnLeftTask/log_0_env9.json
@@ -0,0 +1 @@
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\ No newline at end of file
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"physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "butter__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/butter", "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}, 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"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/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask", "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": 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"episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": "butter", "reference_object": "raisin_box", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"butter": [["functools.partial(<function object_grabbed at 0x7f157e745940>, object='butter')", 0.0], ["functools.partial(<function object_in_container at 0x7f157e745580>, object='butter', container='raisin_box', 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": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "ButterAboveRaisinTask", "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 butter box and place it on top of the raisin box", "contact_object_list": ["butter", "raisin_box", "table"], "_instruction_variants": {"specific": "Place the butter on top of the raisin box. The butter should end up on the raisin box.", "vague": "Put butter on raisin box", "default": "Pick up the butter box and place it on top of the raisin box"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env0.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc766d2b59c14fd948774173912fc919b0114d01
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 125, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 180, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 190, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 196, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 199, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 311, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 314, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 320, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 334, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 336, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 344, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 351, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 357, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 367, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 445, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 449, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 469, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 487, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 489, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 492, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 501, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 515, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 517, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 519, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 526, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 543, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 548, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 551, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 590, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env1.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c0ea54d740df9fef5ec96f78c1b81621d61e49
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 33, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 38, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 38, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 39, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 41, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 41, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 367, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 377, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 394, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 572, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env10.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf1d5ee6f1efd7996bf5c663cf9721ca328b5b8
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 10, "run": 0, "success": false, "final_step": 600, "events": [{"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 334, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 338, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 377, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 402, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 526, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 533, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env11.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a8c57154b9e5c9f7f206d07f0fbfc49971dfaba
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 11, "run": 0, "success": false, "final_step": 600, "events": [{"step": 197, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 291, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 318, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 388, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 391, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 594, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 596, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 600, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env12.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7ddaed538f6f65ed312a106decc4113fc52cef
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 12, "run": 0, "success": false, "final_step": 600, "events": [{"step": 43, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 86, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 198, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 285, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 295, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 316, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 344, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 357, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 509, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 546, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env13.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..806d894b1e8112b2c36c05237374b549866b4264
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 13, "run": 0, "success": false, "final_step": 600, "events": [{"step": 103, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 255, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 427, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 455, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env14.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2a9bb1bbcd505340e515f14ab8fa68cd209c54
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 14, "run": 0, "success": false, "final_step": 600, "events": [{"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 93, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 336, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 398, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 450, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 504, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 565, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 584, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 584, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "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=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env15.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a39cf4c2d0b63060840ae129e5d781eb0b66d2a
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 15, "run": 0, "success": false, "final_step": 600, "events": [{"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 144, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 181, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 240, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}, {"step": 244, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 282, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 416, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env16.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2abdd463114d242e8b941f305176c105a12d69f
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 16, "run": 0, "success": false, "final_step": 600, "events": [{"step": 83, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 203, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 272, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 418, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 423, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 435, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 467, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env17.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fafd64bbb07e5bf287e8f6c4f977838b0919c93
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env17.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 17, "run": 0, "success": false, "final_step": 600, "events": [{"step": 31, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 34, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 34, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env18.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env18.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bccebdb9151da11206951c5dc39199f76c7536e
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env18.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 18, "run": 0, "success": false, "final_step": 600, "events": [{"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'raisin_box' (target objects: ['butter'])", "score": 0.0}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'raisin_box'", "score": 0.0}, {"step": 197, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'raisin_box' (target objects: ['butter'])", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'raisin_box'", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env19.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae5a423cb20b3caedc91b21e252599e8981ef26
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env19.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 19, "run": 0, "success": false, "final_step": 600, "events": [{"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 517, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 525, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env2.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca66489a786dddcfd7734100006ad5eeb341f1f3
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 60, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 214, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 315, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 348, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 350, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 352, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 515, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env3.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..941da94425d1e198dd8c076d05bc4dfd194824b9
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 3, "run": 0, "success": false, "final_step": 600, "events": [{"step": 51, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 98, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 251, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env4.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f134f7990738e9c1940c8b673dafc9c4291d98c
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 4, "run": 0, "success": false, "final_step": 600, "events": [{"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}, {"step": 366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env5.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba78db9d46230b222a1616a23d786a44c907a1c4
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ButterAboveRaisinTask", "env_id": 5, "run": 0, "success": false, "final_step": 600, "events": [{"step": 45, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 213, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 309, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=butter). advanced 1 step(s) to step 1 for butter.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=butter). regressing to step 0 for butter.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 576, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'raisin_box'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env6.json b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a343ccc0d074c8caf3994ff33dc826490c1c13
--- /dev/null
+++ b/2026-09-08_11-27-14_vlanext/ButterAboveRaisinTask/log_0_env6.json
@@ -0,0 +1 @@
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