{
  "run_id": "pact_min_evidence_span2_rendercheck_20260522",
  "title": "PAct min evidence span2 render check",
  "portal_summary": "PAct sample evaluation with complete metric statuses and Gemini VLM QA.",
  "portal_tags": [
    "PAct",
    "Eval100",
    "easy-cases",
    "metrics"
  ],
  "timestamp": "2026-05-22T21:59:02+00:00",
  "selection_policy": "manual benchmark_index selection: 0, 4, 26, 73, 97",
  "seed": 20260521,
  "pact_steps": "PAct defaults (ss_steps=25, slat_steps=25)",
  "pact_output_overrides": {
    "export_textured_glb": false,
    "fast_output": true
  },
  "input_conditioning": {
    "sentinel_cell_span": 2
  },
  "dataset_validation": {
    "dataset_root": "/data/250010098/PAct-Transporter/datasets/pact_eval100_2_1_coverage_20260521",
    "num_records": 100,
    "unique_sample_ids": 100,
    "by_source": {
      "ArtVIP": 25,
      "GAPartNet": 25,
      "GRScenes": 25,
      "PartNetMobility": 25
    },
    "by_category": {
      "Clock": 4,
      "Dispenser": 4,
      "architectural_fixtures": 11,
      "electronics": 5,
      "household_fixtures": 13,
      "household_items": 6,
      "large_furniture": 4,
      "major_appliances": 22,
      "small_appliances": 16,
      "small_furniture": 9,
      "storage": 6
    },
    "by_problem_tag": {
      "cross_source_domain_gap": 75,
      "hard_motion": 74,
      "internal_or_occluded_part_risk": 48,
      "known_quality_or_conversion_issue": 40,
      "many_parts": 56,
      "mixed_joint_types": 37,
      "non_pm_generalization": 75,
      "part_decomposition": 100,
      "prismatic_motion": 46,
      "revolute_motion": 91,
      "single_view_conditioning": 100,
      "thin_structure": 9,
      "unseen_category": 15
    },
    "parsed_sdf_count": 100,
    "preview_count": 100,
    "issues": [],
    "ok": true
  },
  "sample_records": [
    {
      "sample_name": "000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6",
      "benchmark_index": 0,
      "sample_id": "ArtVIP/major_appliances/model_refrigerator_6",
      "source_dataset": "ArtVIP",
      "category": "major_appliances",
      "object_id": "major_appliances/model_refrigerator_6",
      "num_parts": 7,
      "movable_parts": 6,
      "texture_render": {
        "visual_meshes": 58,
        "texture_like_meshes": 2,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/pact_inputs/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6_synthetic_partcolor_debug.png",
      "pact_object_json": null,
      "pact_exploded_png": null,
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "glb_export_success": {
            "value": 0,
            "status": "not_provided",
            "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
          },
          "part_asset_completeness": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "peak_gpu_memory_mb": {
            "value": null,
            "status": "not_provided",
            "note": "Not sampled in this run."
          },
          "reproducible_seed_match": {
            "value": 1,
            "status": "measured",
            "note": ""
          }
        },
        "geometry": {
          "chamfer_l2": {
            "value": null,
            "status": "not_provided",
            "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
          },
          "fscore_tau_0_01": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "normal_consistency": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "scale_consistency": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "mesh_manifold_sanity": {
            "value": null,
            "status": "not_provided",
            "note": "Requires mesh repair/manifold pass."
          },
          "texture_or_material_coverage": {
            "value": 0.0,
            "status": "not_provided",
            "note": "PAct smoke export is untextured PLY."
          }
        },
        "part_decomposition": {
          "part_count_mae": {
            "value": 7,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "part_segmentation_miou_if_masks_available": {
            "value": null,
            "status": "requires_gt",
            "note": "2D mask GT is conditioning input; not a predicted mask output."
          },
          "semantic_part_accuracy": {
            "value": null,
            "status": "not_provided",
            "note": "PAct output names are not semantic labels in this export."
          },
          "parent_child_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 8,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 6,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 90.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 0,
            "status": "measured",
            "note": ""
          }
        },
        "motion_consistency": {
          "detachment_distance": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "self_collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "closed_state_assembly_error": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "trajectory_smoothness": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          }
        },
        "ot_routing_diagnostics": {
          "ot_modules_active": {
            "value": 0,
            "status": "not_applicable",
            "note": "Raw PAct baseline; no OT module."
          },
          "ot_gate_mean": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_plan_marginal_error": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_assignment_entropy": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_edge_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_prior_beta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_dropout_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_virtual_mass": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "part_patch_compactness": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          }
        },
        "robustness_breakdown": {
          "macro_score_by_source_dataset": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; see report.aggregate.by_source."
          },
          "macro_score_by_category": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "macro_score_by_problem_tag": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "worst_10pct_score": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "failure_cluster_count": {
            "value": null,
            "status": "not_provided",
            "note": "Requires larger batch clustering."
          }
        },
        "debug": {
          "pred_part_count": 0,
          "gt_part_count": 7,
          "pred_joint_count": 0,
          "gt_joint_count": 6,
          "matches": [],
          "pred_tree": {
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            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 0
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 0.0,
        "geometry": 0.0,
        "part_decomposition": 0.0,
        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 0.0,
      "vlm_card": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/vlm_cards/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "004_GAPartNet_small_appliances_small_appliances_103101",
      "benchmark_index": 4,
      "sample_id": "GAPartNet/small_appliances/103101",
      "source_dataset": "GAPartNet",
      "category": "small_appliances",
      "object_id": "small_appliances/103101",
      "num_parts": 12,
      "movable_parts": 11,
      "texture_render": {
        "visual_meshes": 256,
        "texture_like_meshes": 0,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/pact_inputs/004_GAPartNet_small_appliances_small_appliances_103101/004_GAPartNet_small_appliances_small_appliances_103101_synthetic_partcolor_debug.png",
      "pact_object_json": null,
      "pact_exploded_png": null,
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "glb_export_success": {
            "value": 0,
            "status": "not_provided",
            "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
          },
          "part_asset_completeness": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "peak_gpu_memory_mb": {
            "value": null,
            "status": "not_provided",
            "note": "Not sampled in this run."
          },
          "reproducible_seed_match": {
            "value": 1,
            "status": "measured",
            "note": ""
          }
        },
        "geometry": {
          "chamfer_l2": {
            "value": null,
            "status": "not_provided",
            "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
          },
          "fscore_tau_0_01": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "normal_consistency": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "scale_consistency": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "mesh_manifold_sanity": {
            "value": null,
            "status": "not_provided",
            "note": "Requires mesh repair/manifold pass."
          },
          "texture_or_material_coverage": {
            "value": 0.0,
            "status": "not_provided",
            "note": "PAct smoke export is untextured PLY."
          }
        },
        "part_decomposition": {
          "part_count_mae": {
            "value": 12,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "part_segmentation_miou_if_masks_available": {
            "value": null,
            "status": "requires_gt",
            "note": "2D mask GT is conditioning input; not a predicted mask output."
          },
          "semantic_part_accuracy": {
            "value": null,
            "status": "not_provided",
            "note": "PAct output names are not semantic labels in this export."
          },
          "parent_child_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 13,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 11,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 90.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 0,
            "status": "measured",
            "note": ""
          }
        },
        "motion_consistency": {
          "detachment_distance": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "self_collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "closed_state_assembly_error": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "trajectory_smoothness": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          }
        },
        "ot_routing_diagnostics": {
          "ot_modules_active": {
            "value": 0,
            "status": "not_applicable",
            "note": "Raw PAct baseline; no OT module."
          },
          "ot_gate_mean": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_plan_marginal_error": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_assignment_entropy": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_edge_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_prior_beta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_dropout_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_virtual_mass": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "part_patch_compactness": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          }
        },
        "robustness_breakdown": {
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            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; see report.aggregate.by_source."
          },
          "macro_score_by_category": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "macro_score_by_problem_tag": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "worst_10pct_score": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "failure_cluster_count": {
            "value": null,
            "status": "not_provided",
            "note": "Requires larger batch clustering."
          }
        },
        "debug": {
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          "gt_joint_count": 11,
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            "valid": 0
          },
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            "duplicate_ids": 0,
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            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
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        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 0.0,
      "vlm_card": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/vlm_cards/004_GAPartNet_small_appliances_small_appliances_103101.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "026_GAPartNet_electronics_electronics_104000",
      "benchmark_index": 26,
      "sample_id": "GAPartNet/electronics/104000",
      "source_dataset": "GAPartNet",
      "category": "electronics",
      "object_id": "electronics/104000",
      "num_parts": 21,
      "movable_parts": 20,
      "texture_render": {
        "visual_meshes": 158,
        "texture_like_meshes": 29,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/pact_inputs/026_GAPartNet_electronics_electronics_104000/026_GAPartNet_electronics_electronics_104000_synthetic_partcolor_debug.png",
      "pact_object_json": null,
      "pact_exploded_png": null,
      "metric_groups": {
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            "value": 0,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "glb_export_success": {
            "value": 0,
            "status": "not_provided",
            "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
          },
          "part_asset_completeness": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "peak_gpu_memory_mb": {
            "value": null,
            "status": "not_provided",
            "note": "Not sampled in this run."
          },
          "reproducible_seed_match": {
            "value": 1,
            "status": "measured",
            "note": ""
          }
        },
        "geometry": {
          "chamfer_l2": {
            "value": null,
            "status": "not_provided",
            "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
          },
          "fscore_tau_0_01": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "normal_consistency": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "scale_consistency": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "mesh_manifold_sanity": {
            "value": null,
            "status": "not_provided",
            "note": "Requires mesh repair/manifold pass."
          },
          "texture_or_material_coverage": {
            "value": 0.0,
            "status": "not_provided",
            "note": "PAct smoke export is untextured PLY."
          }
        },
        "part_decomposition": {
          "part_count_mae": {
            "value": 21,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "part_segmentation_miou_if_masks_available": {
            "value": null,
            "status": "requires_gt",
            "note": "2D mask GT is conditioning input; not a predicted mask output."
          },
          "semantic_part_accuracy": {
            "value": null,
            "status": "not_provided",
            "note": "PAct output names are not semantic labels in this export."
          },
          "parent_child_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 22,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 20,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
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            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 90.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 0,
            "status": "measured",
            "note": ""
          }
        },
        "motion_consistency": {
          "detachment_distance": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "self_collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "closed_state_assembly_error": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "trajectory_smoothness": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          }
        },
        "ot_routing_diagnostics": {
          "ot_modules_active": {
            "value": 0,
            "status": "not_applicable",
            "note": "Raw PAct baseline; no OT module."
          },
          "ot_gate_mean": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_plan_marginal_error": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_assignment_entropy": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_edge_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_prior_beta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_dropout_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_virtual_mass": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "part_patch_compactness": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          }
        },
        "robustness_breakdown": {
          "macro_score_by_source_dataset": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; see report.aggregate.by_source."
          },
          "macro_score_by_category": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "macro_score_by_problem_tag": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "worst_10pct_score": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "failure_cluster_count": {
            "value": null,
            "status": "not_provided",
            "note": "Requires larger batch clustering."
          }
        },
        "debug": {
          "pred_part_count": 0,
          "gt_part_count": 21,
          "pred_joint_count": 0,
          "gt_joint_count": 20,
          "matches": [],
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            "root_count": 0,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 0
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 0.0,
        "geometry": 0.0,
        "part_decomposition": 0.0,
        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 0.0,
      "vlm_card": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/vlm_cards/026_GAPartNet_electronics_electronics_104000.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "073_PartNetMobility_electronics_electronics_3811",
      "benchmark_index": 73,
      "sample_id": "PartNetMobility/electronics/3811",
      "source_dataset": "PartNetMobility",
      "category": "electronics",
      "object_id": "electronics/3811",
      "num_parts": 31,
      "movable_parts": 30,
      "texture_render": {
        "visual_meshes": 286,
        "texture_like_meshes": 70,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/pact_inputs/073_PartNetMobility_electronics_electronics_3811/073_PartNetMobility_electronics_electronics_3811_synthetic_partcolor_debug.png",
      "pact_object_json": null,
      "pact_exploded_png": null,
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "glb_export_success": {
            "value": 0,
            "status": "not_provided",
            "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
          },
          "part_asset_completeness": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "peak_gpu_memory_mb": {
            "value": null,
            "status": "not_provided",
            "note": "Not sampled in this run."
          },
          "reproducible_seed_match": {
            "value": 1,
            "status": "measured",
            "note": ""
          }
        },
        "geometry": {
          "chamfer_l2": {
            "value": null,
            "status": "not_provided",
            "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
          },
          "fscore_tau_0_01": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "normal_consistency": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "scale_consistency": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "mesh_manifold_sanity": {
            "value": null,
            "status": "not_provided",
            "note": "Requires mesh repair/manifold pass."
          },
          "texture_or_material_coverage": {
            "value": 0.0,
            "status": "not_provided",
            "note": "PAct smoke export is untextured PLY."
          }
        },
        "part_decomposition": {
          "part_count_mae": {
            "value": 31,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "part_segmentation_miou_if_masks_available": {
            "value": null,
            "status": "requires_gt",
            "note": "2D mask GT is conditioning input; not a predicted mask output."
          },
          "semantic_part_accuracy": {
            "value": null,
            "status": "not_provided",
            "note": "PAct output names are not semantic labels in this export."
          },
          "parent_child_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 32,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 30,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 90.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 0,
            "status": "measured",
            "note": ""
          }
        },
        "motion_consistency": {
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "self_collision_rate": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
          "closed_state_assembly_error": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "trajectory_smoothness": {
            "value": null,
            "status": "requires_simulation",
            "note": ""
          }
        },
        "ot_routing_diagnostics": {
          "ot_modules_active": {
            "value": 0,
            "status": "not_applicable",
            "note": "Raw PAct baseline; no OT module."
          },
          "ot_gate_mean": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_plan_marginal_error": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_assignment_entropy": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_edge_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_prior_beta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_dropout_delta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_virtual_mass": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "part_patch_compactness": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          }
        },
        "robustness_breakdown": {
          "macro_score_by_source_dataset": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; see report.aggregate.by_source."
          },
          "macro_score_by_category": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "macro_score_by_problem_tag": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "worst_10pct_score": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "failure_cluster_count": {
            "value": null,
            "status": "not_provided",
            "note": "Requires larger batch clustering."
          }
        },
        "debug": {
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          "gt_joint_count": 30,
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          },
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            "valid": 1
          }
        }
      },
      "group_scores": {
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        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 0.0,
      "vlm_card": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/vlm_cards/073_PartNetMobility_electronics_electronics_3811.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "097_PartNetMobility_major_appliances_major_appliances_PartNetMobility_7179",
      "benchmark_index": 97,
      "sample_id": "PartNetMobility/major_appliances/PartNetMobility_7179",
      "source_dataset": "PartNetMobility",
      "category": "major_appliances",
      "object_id": "major_appliances/PartNetMobility_7179",
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      "movable_parts": 5,
      "texture_render": {
        "visual_meshes": 99,
        "texture_like_meshes": 25,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/pact_inputs/097_PartNetMobility_major_appliances_major_appliances_PartNetMobility_7179/097_PartNetMobility_major_appliances_major_appliances_PartNetMobility_7179_synthetic_partcolor_debug.png",
      "pact_object_json": null,
      "pact_exploded_png": null,
      "metric_groups": {
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          "inference_success": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "glb_export_success": {
            "value": 0,
            "status": "not_provided",
            "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
          },
          "part_asset_completeness": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "peak_gpu_memory_mb": {
            "value": null,
            "status": "not_provided",
            "note": "Not sampled in this run."
          },
          "reproducible_seed_match": {
            "value": 1,
            "status": "measured",
            "note": ""
          }
        },
        "geometry": {
          "chamfer_l2": {
            "value": null,
            "status": "not_provided",
            "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
          },
          "fscore_tau_0_01": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "normal_consistency": {
            "value": null,
            "status": "not_provided",
            "note": "Requires dense surface sampling."
          },
          "scale_consistency": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "mesh_manifold_sanity": {
            "value": null,
            "status": "not_provided",
            "note": "Requires mesh repair/manifold pass."
          },
          "texture_or_material_coverage": {
            "value": 0.0,
            "status": "not_provided",
            "note": "PAct smoke export is untextured PLY."
          }
        },
        "part_decomposition": {
          "part_count_mae": {
            "value": 6,
            "status": "measured",
            "note": ""
          },
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            "value": 0.0,
            "status": "measured",
            "note": ""
          },
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            "status": "requires_gt",
            "note": "2D mask GT is conditioning input; not a predicted mask output."
          },
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            "value": null,
            "status": "not_provided",
            "note": "PAct output names are not semantic labels in this export."
          },
          "parent_child_accuracy": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
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            "value": 7,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
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            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
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            "value": 5,
            "status": "measured",
            "note": ""
          },
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            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
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            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 90.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
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            "value": 0.0,
            "status": "measured",
            "note": ""
          },
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            "value": 0,
            "status": "measured",
            "note": ""
          }
        },
        "motion_consistency": {
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          },
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            "value": 1.0,
            "status": "measured",
            "note": ""
          },
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            "status": "measured",
            "note": ""
          },
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            "value": null,
            "status": "requires_simulation",
            "note": ""
          }
        },
        "ot_routing_diagnostics": {
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            "value": 0,
            "status": "not_applicable",
            "note": "Raw PAct baseline; no OT module."
          },
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            "value": null,
            "status": "not_applicable",
            "note": ""
          },
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            "value": null,
            "status": "not_applicable",
            "note": ""
          },
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            "value": null,
            "status": "not_applicable",
            "note": ""
          },
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            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_mask_prior_beta": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
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            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "ot_virtual_mass": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          },
          "part_patch_compactness": {
            "value": null,
            "status": "not_applicable",
            "note": ""
          }
        },
        "robustness_breakdown": {
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            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; see report.aggregate.by_source."
          },
          "macro_score_by_category": {
            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
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            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
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            "value": null,
            "status": "not_applicable",
            "note": "Aggregate-only metric; sample count is 5."
          },
          "failure_cluster_count": {
            "value": null,
            "status": "not_provided",
            "note": "Requires larger batch clustering."
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        },
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        }
      },
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      },
      "weighted_score": 0.0,
      "vlm_card": "PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_min_evidence_span2_rendercheck_20260522/vlm_cards/097_PartNetMobility_major_appliances_major_appliances_PartNetMobility_7179.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
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    }
  ],
  "aggregate": {
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    "mean_part_count_mae": 15.4
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}