{
  "run_id": "pact_official_failure_modes_main_20260525",
  "title": "PAct Official Failure Modes — phenomena run",
  "portal_summary": "PAct sample evaluation with complete metric statuses and Gemini VLM QA.",
  "portal_tags": [
    "PAct",
    "Eval100",
    "easy-cases",
    "metrics"
  ],
  "timestamp": "2026-05-25T11:27:53+00:00",
  "selection_policy": "manual benchmark_index selection: 19, 22, 27, 35, 72",
  "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": 1
  },
  "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": "019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e",
      "benchmark_index": 19,
      "sample_id": "GRScenes/architectural_fixtures/grscenes_window_836a30a6ddbf_ef632e",
      "source_dataset": "GRScenes",
      "category": "architectural_fixtures",
      "object_id": "architectural_fixtures/grscenes_window_836a30a6ddbf_ef632e",
      "num_parts": 4,
      "movable_parts": 3,
      "texture_render": {
        "visual_meshes": 22,
        "texture_like_meshes": 0,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_inputs/019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e/019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e_synthetic_partcolor_debug.png",
      "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e@019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e_synthetic_processed.@ng/object.json",
      "pact_exploded_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/00__exploded_part.png",
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 1,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 1,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 28.339094877243042,
            "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": 0.43743401254559894,
            "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": 0,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 1.0,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.3333333333333333,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.3333333333333333,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.3333333333333333,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 2.285670165064537,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.9894664601924016,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 358.42920354004707,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 1,
            "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": 0.5625659874544011,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.3333333333333333,
            "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": 4,
          "gt_part_count": 4,
          "pred_joint_count": 3,
          "gt_joint_count": 3,
          "matches": [
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 90.0,
              "origin_error": 1.3237377106674522,
              "limit_error": 72.95980402831232,
              "accepted": false
            },
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 90.0,
              "origin_error": 0.7827336905631443,
              "limit_error": 83.12060216065252,
              "accepted": false
            },
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 2.285670165064537,
              "origin_error": 0.9894664601924016,
              "limit_error": 358.42920354004707,
              "accepted": true
            }
          ],
          "pred_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 100.0,
        "geometry": 43.74340125455989,
        "part_decomposition": 100.0,
        "kinematics": 33.33333333333333,
        "motion_consistency": 33.33333333333333,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 52.520887917386645,
      "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/vlm_cards/019_GRScenes_architectural_fixtures_architectural_fixtures_grscenes_window_836a30a6ddbf_ef632e.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "022_ArtVIP_household_items_household_items_model_folder_25",
      "benchmark_index": 22,
      "sample_id": "ArtVIP/household_items/model_folder_25",
      "source_dataset": "ArtVIP",
      "category": "household_items",
      "object_id": "household_items/model_folder_25",
      "num_parts": 2,
      "movable_parts": 1,
      "texture_render": {
        "visual_meshes": 3,
        "texture_like_meshes": 2,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_inputs/022_ArtVIP_household_items_household_items_model_folder_25/022_ArtVIP_household_items_household_items_model_folder_25_synthetic_partcolor_debug.png",
      "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/022_ArtVIP_household_items_household_items_model_folder_25@022_ArtVIP_household_items_household_items_model_folder_25_synthetic_processed.@ng/object.json",
      "pact_exploded_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/01__exploded_part.png",
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 1,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 1,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 28.339094877243042,
            "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": 0.2859157295569501,
            "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": 0,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 1.0,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 0,
            "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": 1.0,
            "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": 1,
            "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": 0.7140842704430499,
            "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": 2,
          "gt_part_count": 2,
          "pred_joint_count": 1,
          "gt_joint_count": 1,
          "matches": [
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 90.0,
              "origin_error": 0.6040010628056199,
              "limit_error": 70.52005795725952,
              "accepted": false
            }
          ],
          "pred_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 100.0,
        "geometry": 28.59157295569501,
        "part_decomposition": 100.0,
        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 36.09340625616237,
      "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/vlm_cards/022_ArtVIP_household_items_household_items_model_folder_25.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "027_ArtVIP_household_items_household_items_model_scissors_21",
      "benchmark_index": 27,
      "sample_id": "ArtVIP/household_items/model_scissors_21",
      "source_dataset": "ArtVIP",
      "category": "household_items",
      "object_id": "household_items/model_scissors_21",
      "num_parts": 3,
      "movable_parts": 2,
      "texture_render": {
        "visual_meshes": 5,
        "texture_like_meshes": 0,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_inputs/027_ArtVIP_household_items_household_items_model_scissors_21/027_ArtVIP_household_items_household_items_model_scissors_21_synthetic_partcolor_debug.png",
      "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/027_ArtVIP_household_items_household_items_model_scissors_21@027_ArtVIP_household_items_household_items_model_scissors_21_synthetic_processed.@ng/object.json",
      "pact_exploded_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/02__exploded_part.png",
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 1,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 1,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 28.339094877243042,
            "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": 0.18903288075537888,
            "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": 0,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 1.0,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.5,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.5,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.5,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 1.0,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.5291629820439214,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 24.680271218440858,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 1,
            "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": 0.8109671192446211,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.5,
            "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": 3,
          "gt_part_count": 3,
          "pred_joint_count": 2,
          "gt_joint_count": 2,
          "matches": [
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 90.0,
              "origin_error": 0.5263641566109359,
              "limit_error": 6.486991952083436,
              "accepted": false
            },
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 0.0,
              "origin_error": 0.5291629820439214,
              "limit_error": 24.680271218440858,
              "accepted": true
            }
          ],
          "pred_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 100.0,
        "geometry": 18.903288075537887,
        "part_decomposition": 100.0,
        "kinematics": 50.0,
        "motion_consistency": 50.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 55.61630864350599,
      "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/vlm_cards/027_ArtVIP_household_items_household_items_model_scissors_21.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "035_ArtVIP_household_items_household_items_model_scissors_23",
      "benchmark_index": 35,
      "sample_id": "ArtVIP/household_items/model_scissors_23",
      "source_dataset": "ArtVIP",
      "category": "household_items",
      "object_id": "household_items/model_scissors_23",
      "num_parts": 3,
      "movable_parts": 2,
      "texture_render": {
        "visual_meshes": 10,
        "texture_like_meshes": 3,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_inputs/035_ArtVIP_household_items_household_items_model_scissors_23/035_ArtVIP_household_items_household_items_model_scissors_23_synthetic_partcolor_debug.png",
      "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/035_ArtVIP_household_items_household_items_model_scissors_23@035_ArtVIP_household_items_household_items_model_scissors_23_synthetic_processed.@ng/object.json",
      "pact_exploded_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/03__exploded_part.png",
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 1,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 1,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 28.339094877243042,
            "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": 0.24863563105788852,
            "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": 0,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 1.0,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 1,
            "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": 0.5,
            "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": 1,
            "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": 0.7513643689421114,
            "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": 3,
          "gt_part_count": 3,
          "pred_joint_count": 1,
          "gt_joint_count": 2,
          "matches": [
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 90.0,
              "origin_error": 0.5291503367644032,
              "limit_error": 55.79861266436371,
              "accepted": false
            }
          ],
          "pred_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 100.0,
        "geometry": 24.863563105788852,
        "part_decomposition": 100.0,
        "kinematics": 0.0,
        "motion_consistency": 0.0,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 35.504773121966664,
      "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/vlm_cards/035_ArtVIP_household_items_household_items_model_scissors_23.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    },
    {
      "sample_name": "072_PartNetMobility_major_appliances_major_appliances_283",
      "benchmark_index": 72,
      "sample_id": "PartNetMobility/major_appliances/283",
      "source_dataset": "PartNetMobility",
      "category": "major_appliances",
      "object_id": "major_appliances/283",
      "num_parts": 12,
      "movable_parts": 11,
      "texture_render": {
        "visual_meshes": 262,
        "texture_like_meshes": 32,
        "status": "textured_visual_render"
      },
      "partcolor_debug_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_inputs/072_PartNetMobility_major_appliances_major_appliances_283/072_PartNetMobility_major_appliances_major_appliances_283_synthetic_partcolor_debug.png",
      "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/072_PartNetMobility_major_appliances_major_appliances_283@072_PartNetMobility_major_appliances_major_appliances_283_synthetic_processed.@ng/object.json",
      "pact_exploded_png": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/04__exploded_part.png",
      "metric_groups": {
        "pipeline_availability": {
          "inference_success": {
            "value": 1,
            "status": "measured",
            "note": ""
          },
          "object_json_valid": {
            "value": 1,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "runtime_seconds": {
            "value": 28.339094877243042,
            "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": 0.7384876707605745,
            "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": 0,
            "status": "measured",
            "note": ""
          },
          "part_count_accuracy": {
            "value": 1.0,
            "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": 1.0,
            "status": "measured",
            "note": ""
          },
          "tree_edit_distance": {
            "value": 0,
            "status": "measured",
            "note": ""
          },
          "orphan_duplicate_part_rate": {
            "value": 0.0,
            "status": "measured",
            "note": ""
          }
        },
        "kinematics": {
          "joint_count_mae": {
            "value": 4,
            "status": "measured",
            "note": ""
          },
          "joint_precision": {
            "value": 0.2857142857142857,
            "status": "measured",
            "note": ""
          },
          "joint_recall": {
            "value": 0.18181818181818182,
            "status": "measured",
            "note": ""
          },
          "joint_f1": {
            "value": 0.2222222222222222,
            "status": "measured",
            "note": ""
          },
          "joint_type_accuracy": {
            "value": 0.2727272727272727,
            "status": "measured",
            "note": ""
          },
          "axis_angular_error_deg": {
            "value": 2.195119811928351,
            "status": "measured",
            "note": ""
          },
          "origin_distance_error": {
            "value": 0.537112315437454,
            "status": "measured",
            "note": ""
          },
          "joint_limit_error": {
            "value": 25.589651741578585,
            "status": "measured",
            "note": ""
          },
          "kinematic_tree_validity": {
            "value": 1,
            "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": 0.26151232923942547,
            "status": "measured",
            "note": ""
          },
          "open_state_plausibility": {
            "value": 0.2222222222222222,
            "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": 12,
          "gt_part_count": 12,
          "pred_joint_count": 7,
          "gt_joint_count": 11,
          "matches": [
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 0.0,
              "origin_error": 0.6566938066495827,
              "limit_error": 19.069512053332055,
              "accepted": true
            },
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 4.390239623856702,
              "origin_error": 0.41753082422532534,
              "limit_error": 32.109791429825115,
              "accepted": true
            },
            {
              "type_mismatch": 0.0,
              "axis_error_deg": 49.2665666410074,
              "origin_error": 0.0,
              "limit_error": 0.16040929746627808,
              "accepted": false
            },
            {
              "type_mismatch": 1.0,
              "axis_error_deg": 7.300090066489107,
              "origin_error": 0.3316661751418428,
              "limit_error": 359.998,
              "accepted": false
            },
            {
              "type_mismatch": 1.0,
              "axis_error_deg": 16.330080232963052,
              "origin_error": 0.2898190929055682,
              "limit_error": 359.998,
              "accepted": false
            },
            {
              "type_mismatch": 1.0,
              "axis_error_deg": 8.938171494965676,
              "origin_error": 0.3287767618831377,
              "limit_error": 359.998,
              "accepted": false
            },
            {
              "type_mismatch": 1.0,
              "axis_error_deg": 1.3999079434752537,
              "origin_error": 0.23744175410670906,
              "limit_error": 359.998,
              "accepted": false
            }
          ],
          "pred_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          },
          "ref_tree": {
            "root_count": 1,
            "duplicate_ids": 0,
            "dangling_parent_count": 0,
            "cycle_node_count": 0,
            "valid": 1
          }
        }
      },
      "group_scores": {
        "pipeline_availability": 100.0,
        "geometry": 73.84876707605746,
        "part_decomposition": 100.0,
        "kinematics": 22.22222222222222,
        "motion_consistency": 22.22222222222222,
        "ot_routing_diagnostics": 0.0
      },
      "weighted_score": 52.5960041582079,
      "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_official_failure_modes_20260525/main_run/vlm_cards/072_PartNetMobility_major_appliances_major_appliances_283.png",
      "vlm": {
        "ok": false,
        "text": "",
        "error": "skipped"
      }
    }
  ],
  "aggregate": {
    "mean_weighted_score": 46.466276019445914,
    "by_source": {
      "ArtVIP": 42.40482934054501,
      "GRScenes": 52.520887917386645,
      "PartNetMobility": 52.5960041582079
    },
    "mean_joint_f1": 0.21111111111111108,
    "mean_part_count_mae": 0.0
  }
}
