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+        "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/scripts/run_droid_sim_shadow_layered.py",
+        "--_internal-stage",
+        "foreground",
+        "--request",
+        "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/layered_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/.d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f.staging.vsf0te6c/foreground_request.json",
+        "--stage-token",
+        "299e9715b7671c711c2c97059a3728bae72931e70f2b1141"
+      ]
+    },
+    "stage_marker_without_token": {
+      "fingerprint": "d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f",
+      "format": "robosnap_droid_sim_shadow_layered_v3",
+      "source_scene_written": false,
+      "status": "private_staging",
+      "transition_direct_aligned_layered": true
+    },
+    "stage_requests": {
+      "background": {
+        "alignment_engine": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/scripts/droid_sim_marble_alignment_engine.py",
+        "alignment_engine_sha256": "1bbc4f990bf87bcc308ac92966e73f90912fdacd8c3970233908f9c660cf47c6",
+        "background_color": [
+          0.96,
+          0.96,
+          0.96
+        ],
+        "background_ply": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/alignment_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/712220f9ed01db818d72bd63db68ae5b7a0ed5e1c82d8cdf36fb57a450fad40a/aligned_background_target_vggt.ply",
+        "camera_npz": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/alignment_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/712220f9ed01db818d72bd63db68ae5b7a0ed5e1c82d8cdf36fb57a450fad40a/cameras_target_vggt.npz",
+        "coordinate_frame": "target_vggt_world_before_gravity",
+        "device": "cuda:0",
+        "frame_index": 0,
+        "image_height": null,
+        "image_width": null,
+        "min_background_coverage": 0.05,
+        "min_background_std": 0.03,
+        "output_npz": "background_layer.npz",
+        "output_png": "background_render.png",
+        "output_status": "background_stage.json",
+        "render_gauge_world_units_per_normalized_unit": 0.5556627719534006,
+        "render_normalization_contract": {
+          "camera_from_world_bound_to_w2c_render": true,
+          "depth_recovery": "depth_world = depth_normalized * gauge",
+          "depth_world_units_per_normalized_unit": 0.5556627719534006,
+          "gauge_world_units_per_normalized_unit": 0.5556627719534006,
+          "render_w2c": "identity",
+          "version": "camera-gauge-v1"
+        },
+        "renderer": "/cpfs/user/zhangshujie/robosnap/robosnap/rendering/render_layered_scene.py"
+      },
+      "composite": {
+        "background_npz": "background_layer.npz",
+        "foreground_npz": "foreground_layer.npz",
+        "min_background_target_ncc": 0.3,
+        "min_composite_target_ncc": 0.2,
+        "min_foreground_coverage": 0.001,
+        "output_comparison": "target_comparison.png",
+        "output_png": "layered_composite.png",
+        "output_scale_bridge": "unit_scale_bridge.json",
+        "output_status": "layered_status.json",
+        "post_geometry_unit_scale_policy": {
+          "background_depth_scale_applied": 1.0,
+          "expected_scale_foreground_units_per_vggt_unit": 1.0,
+          "maximum_absolute_log_error": 0.25
+        },
+        "renderer": "/cpfs/user/zhangshujie/robosnap/robosnap/rendering/render_layered_scene.py",
+        "support_mask": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene_draft/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/support_mask.png",
+        "target_image": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene_draft/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/image.png",
+        "unit_scale_bridge_policy": {
+          "confidence_fallback_quantiles": [
+            0.5,
+            0.75,
+            0.9
+          ],
+          "estimator": "support-mask iterated median log-ratio with 3-sigma MAD rejection and VGGT-confidence quantile fallback",
+          "maximum_scale_log_mad": 0.25,
+          "maximum_scale_median_relative_residual": 0.18,
+          "maximum_scale_p90_relative_residual": 0.45,
+          "minimum_cross_layer_depth_visible_fraction": 0.75,
+          "minimum_scale_support": 2000,
+          "transition_maximum_scale_median_relative_residual": 0.25,
+          "transition_maximum_scale_p90_relative_residual": 0.65,
+          "transition_minimum_robust_support_pixels": 2000
+        },
+        "vggt_camera_json": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/original_vggt_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/629e0106eeb877defe0c675498a9e917aeb79ca7f853949641bf5449fd0837cf/camera.json",
+        "vggt_content_mask": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/original_vggt_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/629e0106eeb877defe0c675498a9e917aeb79ca7f853949641bf5449fd0837cf/content_mask.npy",
+        "vggt_depth": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/original_vggt_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/629e0106eeb877defe0c675498a9e917aeb79ca7f853949641bf5449fd0837cf/depth.npy",
+        "vggt_depth_conf": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/original_vggt_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/629e0106eeb877defe0c675498a9e917aeb79ca7f853949641bf5449fd0837cf/depth_conf.npy"
+      },
+      "foreground": {
+        "camera_npz": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/alignment_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/712220f9ed01db818d72bd63db68ae5b7a0ed5e1c82d8cdf36fb57a450fad40a/cameras_target_vggt.npz",
+        "coordinate_frame": "gravity_aligned_target_vggt_world",
+        "foreground_camera_json": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene_draft/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/reconstruction/vggt/camera.json",
+        "foreground_glb": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene_draft/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/fully_refined_foreground.glb",
+        "frame_index": 0,
+        "gravity_transform": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene_draft/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/gravity_alignment.json",
+        "image_height": null,
+        "image_width": null,
+        "max_camera_k_relative_error": 1e-05,
+        "max_camera_rotation_deg": 0.01,
+        "max_camera_translation_delta": 0.0001,
+        "min_foreground_coverage": 0.001,
+        "output_npz": "foreground_layer.npz",
+        "output_png": "foreground_render.png",
+        "output_status": "foreground_stage.json",
+        "renderer": "/cpfs/user/zhangshujie/robosnap/robosnap/rendering/render_layered_scene.py"
+      }
+    },
+    "status": "complete"
+  },
+  "layered_manifest_format": "robosnap_droid_sim_transition_direct_aligned_layered_v1",
+  "layered_outputs": {
+    "background_render": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/background_render.png",
+      "sha256": "d284e77fa2825c1159766c221358b517b64b0443a701d9ed6895d82f8ff48328",
+      "size_bytes": 1041192
+    },
+    "foreground_render": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/foreground_render.png",
+      "sha256": "1a3e5a438da55fed144d425f9cb0bb9fb0f4a63f69106b6bf655e64d08c47261",
+      "size_bytes": 228032
+    },
+    "layered_composite": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/layered_composite.png",
+      "sha256": "1b45f21c92d11fc0313df48136e4fa761677d9ae6e461bea552f14322710f836",
+      "size_bytes": 866289
+    },
+    "shadow_layered_manifest": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/shadow_layered_manifest.json",
+      "sha256": "0d210419cf4aa34ba5a3ad5e06aa4b2c76c07da3197671d422c8efb20a9d7580",
+      "size_bytes": 28406
+    }
+  },
+  "notes": [
+    "Standardized release scene: root contains only scene01-style files; clean layered replay is under backup/layered_render_repro_<fingerprint>."
+  ],
+  "package_dir": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/background/aligned_target_vggt",
+  "render_replay": null,
+  "render_requests": {
+    "background": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/background_request.json",
+      "sha256": "81b5dc50937823173b0236c11dd152d2637dc9cc72bc6039bea3c2e46cf0b13a",
+      "size_bytes": 1803
+    },
+    "composite": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/composite_request.json",
+      "sha256": "c95bcd38808dfff07cdfd1a8b41a381711608319449c3e964de83376bb58719c",
+      "size_bytes": 2978
+    },
+    "foreground": {
+      "exists": true,
+      "path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/backup/layered_render_repro_d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f/foreground_request.json",
+      "sha256": "6833e0f92d9ad9cbe63ca2724595cd9620419b789ff497b0eee6add76ed5b6dc",
+      "size_bytes": 1465
+    }
+  },
+  "safety": {
+    "api_calls": 0,
+    "complete_background_2d_fallback": false,
+    "marble_generation_calls": 0,
+    "network_operations": 0,
+    "robosnap_core_modified": false
+  },
+  "scene": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17",
+  "scene_dir": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17",
+  "source_alignment_run": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/alignment_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/712220f9ed01db818d72bd63db68ae5b7a0ed5e1c82d8cdf36fb57a450fad40a",
+  "source_layered_run": "/cpfs/user/zhangshujie/robosnap/scripts/droid-sim-transition/results/13_42_draft_aligned_layered_results/layered_runs/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/d0583ca1b6efeaaaaa59bd2fb9787ac02a33532aaa44c4419a53145df15c1d4f",
+  "status": "complete",
+  "updated_at_utc": "2026-08-02T18:57:16Z"
+}

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/background/inpaint_prompt.txt

@@ -0,0 +1,9 @@
+You are an excellent image inpainter and currently are here to help me inpaint the masked image where only the background is reserved and the interactive area is removed.
+Please remove all the black area from these scenes, which is not included in the background.
+Keep the room structure unchanged.
+Preserve walls, floor, ceiling, windows and lighting to recover a full background image.
+Do not change camera perspective.
+Return an empty background with consistent geometry and textures. I stress again that I am asking you to inpaint the background, {!not!} refill the mask area.
+Make additional careful checks in order not to delete additional background objects.
+If there are any pixels from the interactive area that were not completely removed, please remove them as well, leaving only the background.
+Special reminder: remove the desktop area as well since I generate the area separately. I want the background to be empty to hold the desk.

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/camera.json

@@ -0,0 +1,84 @@
+{
+  "input_image": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/image.png",
+  "original_size_wh": [
+    1280,
+    720
+  ],
+  "preprocessed_size_hw": [
+    518,
+    518
+  ],
+  "preprocess_mode": "pad",
+  "preprocess_transform_original_to_preprocessed": {
+    "scale_x": 0.4046875,
+    "scale_y": 0.4083333333333333,
+    "offset_x": 0.0,
+    "offset_y": 112.0,
+    "resized_width": 518,
+    "resized_height": 294
+  },
+  "model": "facebook/VGGT-1B",
+  "checkpoint": "/cpfs/shared/aigc/zhangshujie/hf_cache/VGGT-1B/model.pt",
+  "exported_points": 38073,
+  "include_padding": false,
+  "conf_threshold": null,
+  "stride": 2,
+  "coordinate_convention": "OpenCV: x right, y down, z forward",
+  "extrinsic_convention": "camera-from-world [R|t], shape 3x4",
+  "intrinsic_preprocessed_convention": "pixel intrinsics for image_preprocessed.png",
+  "intrinsic_original_pixels_convention": "same VGGT camera converted back to original image pixel coordinates",
+  "intrinsic_preprocessed": [
+    [
+      224.61065673828125,
+      0.0,
+      259.0
+    ],
+    [
+      0.0,
+      224.36412048339844,
+      259.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "intrinsic_original_pixels": [
+    [
+      555.0224609375,
+      0.0,
+      640.0
+    ],
+    [
+      0.0,
+      549.463134765625,
+      360.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "extrinsic": [
+    [
+      0.9999995231628418,
+      -0.0009542503394186497,
+      0.00015945920313242823,
+      -0.0009722245740704238
+    ],
+    [
+      0.0009542618645355105,
+      0.9999995231628418,
+      -7.212430500658229e-05,
+      0.000889207178261131
+    ],
+    [
+      -0.00015939031436573714,
+      7.227643800433725e-05,
+      1.0,
+      -7.939957140479237e-05
+    ]
+  ]
+}

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_icp_delta.txt

@@ -0,0 +1,4 @@
+1 0 0 0
+0 1 0 0
+0 0 1 0
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_icp_delta_raw.txt

@@ -0,0 +1,4 @@
+0.9418340879 -0.2115189175 0.2611671848 -0.1993945973
+0.1747048396 0.9719931171 0.1571865114 -0.4151242943
+-0.2871006267 -0.1024164435 0.9524096294 -0.4669567156
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_pose_manual_adjusted.txt

@@ -0,0 +1,4 @@
+0.9979971097 0.05606731151 -0.02929548763 0.0934042268
+0.05606731151 -0.569503548 0.8200744877 -0.4584673862
+0.02929548763 -0.8200744877 -0.5715064383 0.6109455864
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_pose_vggt_icp.txt

@@ -0,0 +1,4 @@
+0.5587265625 -0.8288613878 0.02852066232 -0.02802833528
+-0.4654238426 -0.3418295984 -0.8164148286 0.5115170091
+0.6864439344 0.4428784545 -0.5767611285 1.429894814
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_pose_vggt_icp_raw.txt

@@ -0,0 +1,4 @@
+0.8039502996 -0.5926811634 0.0489178325 0.03318883742
+-0.2468768097 -0.4074475934 -0.8792259661 0.3024897021
+0.5410321217 0.6947773004 -0.4738868495 0.8455430442
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/0_pose_vggt_init.txt

@@ -0,0 +1,4 @@
+0.5587265625 -0.8288613878 0.02852066232 -0.02802833528
+-0.4654238426 -0.3418295984 -0.8164148286 0.5115170091
+0.6864439344 0.4428784545 -0.5767611285 1.429894814
+0 0 0 1

batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/1_icp_delta.txt

@@ -0,0 +1,4 @@
+1 0 0 0
+0 1 0 0
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batch_1st_scene/0040__uuid=AUTOLab+84bd5053+2023-08-17-17h-13m-17s__scene=65137982__lab=AUTOLab__date=2023-08-17/depth/object_point_clouds/4_icp_delta.txt

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