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"robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f3442525120>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f3442524a40>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 20, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "vlanext", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env0.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdad98146d46e76667f4b9a7d1d83c6fe7997814
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 750, "events": [{"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "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}, {"step": 289, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 340, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env1.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d39d19a98fab546eb7e4e78e64a4bbd23470ad17
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 750, "events": [{"step": 51, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.063m", "score": 0.0}, {"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env10.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env10.json
new file mode 100644
index 0000000000000000000000000000000000000000..74df20604b49d9e5afd9096d0717dc0371d80b30
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env10.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 10, "run": 0, "success": false, "final_step": 750, "events": [{"step": 121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.139m", "score": 0.0}, {"step": 449, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env11.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env11.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ff28533f2b118bff8339298685a4ac58340f21
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env11.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 11, "run": 0, "success": false, "final_step": 750, "events": [{"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env12.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env12.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca501ca960a51342cf8e6c8553e9b87281b5340
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env12.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 12, "run": 0, "success": false, "final_step": 750, "events": [{"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 200, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env13.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env13.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df504ffad308d4d02d7a5af841087d7ee2a6044
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env13.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 13, "run": 0, "success": false, "final_step": 750, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.120m", "score": 0.0}, {"step": 304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 312, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.055m", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env14.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env14.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe528d44987e7904091017775bae1c90935bf3ed
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env14.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 14, "run": 0, "success": false, "final_step": 750, "events": [{"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 68, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env15.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env15.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7d7bb2b60696915933d9b230372ab4ce292aa4
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env15.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 15, "run": 0, "success": false, "final_step": 750, "events": [{"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env16.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env16.json
new file mode 100644
index 0000000000000000000000000000000000000000..638c7350d6a410b5fd2c6693aab652d92817bb84
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env16.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 16, "run": 0, "success": false, "final_step": 750, "events": [{"step": 63, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 582, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 613, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env17.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env17.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f4c6871f33578f5f5ec78379ba5aadcbfae958
--- /dev/null
+++ b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env17.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env18.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env18.json
new file mode 100644
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\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env19.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env19.json
new file mode 100644
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\ No newline at end of file
diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env2.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..acc90956353ddc79ae2f4fb12672c9d836946d2c
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env3.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env3.json
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env4.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env4.json
new file mode 100644
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env5.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env5.json
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env6.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env6.json
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index 0000000000000000000000000000000000000000..4a017ef3fde0d37da8ea876410c1d767412f49c4
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env7.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env7.json
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@@ -0,0 +1 @@
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env8.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env8.json
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env9.json b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/log_0_env9.json
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diff --git a/2026-09-26_05-05-22_vlanext/BananaInBowlTask/run_0.hdf5 b/2026-09-26_05-05-22_vlanext/BananaInBowlTask/run_0.hdf5
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diff --git a/2026-09-26_05-05-22_vlanext/episode_results.jsonl b/2026-09-26_05-05-22_vlanext/episode_results.jsonl
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+++ b/2026-09-26_05-05-22_vlanext/episode_results.jsonl
@@ -0,0 +1,20 @@
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+{"env_name": "BananaInBowlTask", "task_name": "BananaInBowlTask", "run_name": "BananaInBowlTask_0", "run": 0, "episode": 18, "env_id": 18, "policy": "vlanext", "instruction": "Pick up the banana and place it in the bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 750, "duration": 50.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.871583444715803, "joint_sparc_mean": -7.730503433439364, "ee_isj": 357.3766577213372, "joint_isj": 21286.16037959875, "ee_path_length": 3.441488158134531, "joint_rmse_mean": 0.022567014076459297, "ee_speed_max": 0.24100427329540253, "ee_speed_mean": 0.06598187983036041}, "events": {"GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 2, "wrong_objects_grabbed": ["bowl", "bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 599.133, "policy_inference_avg_ms": 798.8, "env_step_s": 192.14, "env_step_avg_ms": 256.2, "video_write_s": 98.71, "video_write_avg_ms": 131.6, "wall_total_s": 889.983, "it_per_sec": 0.84}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
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