Add 124 trajectories (phase 2, remaining runs; batch S04)

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2202,
+   "sim_steps": 4404,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 279.6,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.754,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.999,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv/replay.mp4",
+  "duration_s": 31.6,
+  "fps": 10.0,
+  "frames": 316,
+  "sha256": "420f03dff849237b2c7e795525e8c49855140ca31483844a5790884d84c2ab26"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾在白盘上，灶上的黑色平底锅内没有虾。"
+     },
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–2.0 s，机器人二指夹爪夹着虾离开白盘并移向平底锅；视频 2.1–2.4 s 下放、张爪，视频 2.4–2.7 s 橙色虾留在锅底中央，夹爪已上撤。接触锅底的起点约为视频 2.3 s，视觉误差约 0.2 s。"
+     },
+     {
+      "t": 31.5,
+      "log_step": 137,
+      "text_zh": "观察：视频 30.5–31.5 s，机器人退回灶前，橙色虾仍位于锅底中央，之后未再被抓起；log step 137 的交付生成脚本终态检测同时记录 meat_in_pan=True。推断：虾保持锅接触及小于 0.07 米的水平中心距，节点在结尾成立；精确距离没有独立状态日志可核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.5–2.4 s，单臂二指夹爪夹持虾，由白盘搬到平底锅，随后张爪撤离；此段未见底盘行驶。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": 134,
+      "text_zh": "观察：视频 3.6–4.4 s，机器人底盘沿台面移到上方橱柜前；视频 4.4 s 可见柜内浅色标签瓶的一部分。log step 134 的交付生成脚本在虾入锅之后执行 condiment 的两次柜内抓取。"
+     },
+     {
+      "t": 9.2,
+      "log_step": 137,
+      "text_zh": "观察：视频 5.0–9.6 s，机器人在柜口调整末端、闭爪后向上转动，未见瓶子随爪离柜；视频 10.0–16.5 s 再次尝试后仍未将瓶子送到下方台面。log step 137 记录交付这一轮两次提拉的瓶体高度变化均约为零，随后 cond grasped=False；该自编脚本检测与视频未发生搬运的表现一致，不把夹指间距当作抓稳证据。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 137,
+      "text_zh": "观察：视频 17.0–29.0 s，机器人继续在柜口操作，之后空爪撤离；柜下可见白色台面上始终没有成功参考视频中清楚可见的深色糖浆瓶。log step 137 的交付生成脚本终态检测为 cond_on_counter=False。推断：本次没有完成糖浆瓶从柜内到目标台面的放置，节点全程不成立；并非仅根据总奖励为零作此判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.6–4.4 s，轮式底盘载着机械臂沿灶旁台面行驶，到橱柜前准备取糖浆瓶。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 5.0–16.5 s，单臂夹爪在糖浆瓶所在柜口尝试闭爪、抬升，但瓶身与夹指的接触区被柜门及腕部遮挡；无法确认实际触碰或对向夹持，不据日志中的夹指间距补记抓握。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": 134,
+      "text_zh": "观察：视频 17.0–18.0 s，机器人把末端转向柜口另一侧，随后在该处反复改变腕姿；log step 134 的交付脚本在糖浆瓶失败后执行 vegetable 的两��抓取。推断：这是西兰花上台面步骤的实际尝试，而非从后续未达目标反推未尝试。"
+     },
+     {
+      "t": 28.5,
+      "log_step": 137,
+      "text_zh": "观察：视频 18.0–28.5 s，机器人夹爪停留在柜口附近反复微动，没有绿色西兰花被带出柜内并送到台面；视频 29.0–30.5 s 空爪撤走。log step 137 的交付这一轮记录两次 vegetable 提拉的高度变化均约为零、veg grasped=False，以及终态 veg_on_counter=False。推断：西兰花从未建立与目标台面的接触关系，节点全程不成立。"
+     },
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频 30.5–31.5 s，机器人回到灶前并收臂，没有随后搬放西兰花或糖浆瓶的动作；锅中的虾仍保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17.0–28.5 s，单臂夹爪向西兰花所在柜内区域尝试操作；柜门和腕部遮住目标与夹指的相对位置，无法确认实际接触方式，未见成功抓起西兰花。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": 9.2,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.5–9.6 s，机器人在第一次柜口闭爪后抬起末端，没有糖浆瓶被带出；视频 10.0–16.5 s 再试仍未搬到台面，随后转向西兰花，直到视频 31.5 s 也未补做糖浆瓶放置。log step 134、137 显示这两次取瓶及后续取西兰花属于最终保存的 2202 动作轨迹，log step 145 又重放该文件得到失败。推断：最早失败且始终未修复的是糖浆瓶上台面，断点锚定第一次无效提拉，而不是末尾退离。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.2,
+    "log_step": 137,
+    "evidence_zh": "推断：视频 8.5–9.6 s 和视频 14.5–16.5 s，机器人闭爪、抬动后都未把糖浆瓶带出柜口，下方台面没有收到瓶子；log step 137 的同一交付生成脚本两次检测瓶体提拉高度变化约为零并返回 cond grasped=False。结合连续前后帧，判为未建立搬运所需的有效抓持；没有可见的先持瓶离架、再滑落过程，不标没保持住。此判断不排除被遮挡处曾有短暂触碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 134 的交付脚本以瓶体当前位置为目标，采用两个高度依次接近、闭爪、抬升，并用瓶体是否升高判断取瓶是否成功；log step 137 两次均未提起。会话诊断 log step 140、146 也显示夹爪自身抬升或回拉时瓶体不随动，视频 5.0–16.5 s 对应柜口反复调整而没有搬运。证据支持柜内抓取执行的控制失败；尚不能可靠区分接触几何设计与轨迹跟踪问题，因此保留在控制大类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法逐帧核实接触对和距离阈值。本次视频的柜门及腕部遮挡了糖浆瓶、西兰花与夹指的主要接触区，因此两步的目标接触方式保留未知；失败抓取可由前后帧、未发生搬运及同轮脚本检测联合推断，但不能确认是否曾短暂触碰，也不能把会话诊断中的碰撞或关节限位直接认作交付轨迹的事件。两物放置后应在台面清楚可见（已对照成功参考），本次该线索始终缺失，因此放置节点为 false。四项原生距离指标没有评分器数值，均填 null。"
+ },
+ "summary_zh": "观察：机器人约在视频 2.3 s 将虾从白盘放入平底锅，并保持到视频 31.5 s，最终完成 1/3 个节点。推断：机器人随后取糖浆瓶时没有建立可搬运的抓持，两轮尝试均未修复，之后西兰花的尝试也未完成搬放；最早断点为糖浆瓶上台面，证据支持控制失败。柜内接触受遮挡且无状态日志，实际目标接触方式及控制子类无法进一步确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值与时间与视频一致：虾约 2.3 s 入锅并保持到结尾，糖浆瓶和西兰花全程没有到达下方台面（灰色圆柱是固定的厨房纸架，不是糖浆瓶）。断点取糖浆瓶首次无效提拉合理，证据措辞已标为推断，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3800e44955d224d952d69804c4a26515e55aae4b95010ba0ca20e8ef17e6f0ea",
+   "video_sha256": "420f03dff849237b2c7e795525e8c49855140ca31483844a5790884d84c2ab26",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg.json

@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--4u2aekg",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 279,
+   "sim_steps": 558,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 77.64,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.441,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.837,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg/replay.mp4",
+  "duration_s": 14.1,
+  "fps": 10.0,
+  "frames": 141,
+  "sha256": "39bae7291b829436ff5b77de1827690c1112871c7849edc2b7116019f82e5186"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾在灶旁白盘上，灶上黑色平底锅内为空。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–6.8 s，机器人二指夹爪夹住橙色虾并逐渐抬离白盘，随后将其移向黑色平底锅。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 8.6–10.6 s，机器人在锅上方松爪，视频约 9.6 s 起橙色虾落在锅底中央附近；视频 13.0–14.0 s 夹爪上撤时虾仍在锅内。推断：虾接触锅底且接近锅中心，满足入锅关系；无状态日志，接触时刻约有 0.2 s 不确定性，水平距离不能直接量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.8–9.6 s，机器人单臂末端二指夹爪夹住虾、抬起并搬至锅上方，随后张开夹爪释放。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 378,
+      "text_zh": "观察：视频 0.0–14.0 s 的完整操作仅包含白盘上的虾被夹取、搬至锅内和空夹爪上撤，没有从橱柜夹取或搬来糖浆瓶；视频 13.0–14.0 s 仍是灶台及虾入锅后的退离。log step 378 中 agent 明确表示只保留虾的动作并重新生成交付。"
+     },
+     {
+      "t": null,
+      "log_step": 390,
+      "text_zh": "推断：结合任务初态（糖浆瓶在橱柜）、视频全程没有糖浆瓶搬运，以及 log step 243 展示的交付脚本只操作虾、log step 378 只增加虾释放后的退离，糖浆瓶未到达目标台面；log step 390 的 agent 自述“糖浆瓶和西兰花仍在柜内”与此一致。柜内终态不在本视频视野中，未将会话取瓶测试当作评分轨迹。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 378,
+      "text_zh": "观察：视频 0.0–14.0 s 机器人只搬运虾，未见夹爪从橱柜取出西兰花或把绿色食材带到台面；逐帧检查视频 13.0–14.0 s，机器人仍在虾锅旁空手退离。"
+     },
+     {
+      "t": null,
+      "log_step": 390,
+      "text_zh": "推断：西兰花初始在橱柜，完整视频没有西兰花搬运，log step 243 的交付脚本未包含西兰花动作，log step 378 表示仅保留虾的轨迹并增加退离，因此西兰花上台面始终未达成；log step 390 的 agent 自述也确认其仍在柜内。柜内终态不在画面中。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": null,
+   "log_step": 378,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–14.0 s 只显示机器人完成虾入锅并上撤，未开始橱柜取物。log step 268 中 agent 将糖浆瓶作为下一项测试对象；log step 378 中 agent 表示橱柜取物仍未解决，只保留虾轨迹并增加退离；log step 390 承认糖浆瓶和西兰花未完成。推断：以原计划下一项糖浆瓶上台面为断点，该步在交付中未启动，无法定位单一出错视频时刻。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 378,
+    "evidence_zh": "观察：视频 0.0–14.0 s 机器人始终围绕虾和灶上的锅动作，视频 9.6 s 后只在锅旁等待、退离，没有开始糖浆瓶的抓取或搬运；log step 378 明确说明交付仅保留虾及退离动作。会话里的橱柜取瓶动作未出现在评分视频中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 367,
+    "source_zh": "日志",
+    "evidence_zh": "观察：会话测试 log step 367 记录夹爪执行闭合和抬起后，瓶体位置由 [5.3953,-2.9466,1.5165] 变为 [5.3710,-2.9454,1.5156]，没有抬离柜层；log step 373–374 的另一取瓶测试中，瓶体高度仍约 1.5165 m，而末端上移到约 1.6610 m。log step 378 中 agent 随后表示保留仅含虾的交付。推断：agent 在会话中未解决取瓶控制，因而未将糖浆瓶搬运加入交付；证据支持控制能力缺口，但不足以把问题唯一归为接触几何、逆解或反馈控制。上述会话测试只用于根因，不作为评分轨迹的接触或现象。"
+   }
+  ],
+  "gap_zh": "本任务没有状态日志。视频未转向橱柜，糖浆瓶和西兰花仍未上台面由任务初态、全程无搬运动作及交付范围共同推断，非由零奖励单独推出；柜内最终姿态不可直接观察。虾的精确锅接触和 0.07 m 距离阈值不能数值核验，DAG 四项原生距离指标均未由评分器报告，故填 null。会话测试显示取瓶未能抬起，但无法进一步唯一确定控制子类；oracle 仅用于比较成功动作和视野，不作为本次运行证据。"
+ },
+ "summary_zh": "评分轨迹只完成虾放入锅：视频约 9.6 s 起虾留在锅底中央附近，至视频 14.0 s 仍成立，最终进度为 1/3。糖浆瓶和西兰花搬运未加入交付，断点取糖浆瓶上台面／首步前，现象为没尝试；会话中多次取瓶未能抬起，支持保守归因于控制。没有状态日志，柜内终态和精确距离不能直接核验，柜内两物未搬运由完整动作与交付范围推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "虾入锅约 9.6 s（视频时钟）成立并保持到 14.0 s，糖浆瓶/西兰花全程未被搬运，进度 1/3、断点首步前/没尝试、根因控制（会话取瓶测试闭合后瓶体未抬起，仅作根因证据）均有帧和 log 支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:43:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6c67d9923a1b52191c727f844554d737fc6520fcfee102dda721f27fd0b69507",
+   "video_sha256": "39bae7291b829436ff5b77de1827690c1112871c7849edc2b7116019f82e5186",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3.json

@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--dvwesp3",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 973,
+   "sim_steps": 1946,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 142.36,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.616,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.067,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3/replay.mp4",
+  "duration_s": 32.6,
+  "fps": 10.0,
+  "frames": 326,
+  "sha256": "f444356e591b2dd84d4c4399fa4f51fa73e8db30d2420166a7423ff4315a9df0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 橙色虾在灶旁白盘上；视频 1.6–2.6 s 机器人二指夹爪下降并夹住虾，视频 2.8–3.8 s 虾随夹爪离开白盘、向黑色平底锅移动。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "推断：视频 4.4–4.8 s 机器人在锅中心附近完成下降，接触处被机械臂遮挡；视频 5.8–6.5 s 夹爪撤开后，橙色虾留在黑锅内部。因此首次接触锅约在视频 4.8 s，误差约 0.5 s；之后未见机器人再搬动虾。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 105,
+      "text_zh": "观察：视频 6.5–7.0 s 虾位于锅内，白盘已空。inputs/run.json 的 reward 报告 success=1、replay_success=1、deterministic=1；log step 105 的两次独立重放也均返回 success=True。"
+     },
+     {
+      "t": 32.5,
+      "log_step": null,
+      "text_zh": "推断：视频后段摄像机随机器人转向橱柜，锅离开视野；结合此前虾已留在锅内、之后机器人只搬运另两件食材，以及评分器成功判定，虾入锅节点在终态仍成立，包含水平中心距小于 0.07 米的验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂末端二指夹爪夹住橙色虾，由白盘提起后放入灶上的黑色平底锅，随后松开并撤回；视频 1.6–6.0 s 可见夹取、搬运和撤离。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.0 s 可见深色糖浆瓶与绿色西兰花仍在已敞开的蓝色橱柜底层；机器人从灶前移动到底层柜前。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频 11.4–12.6 s 机器人夹爪伸向糖浆瓶瓶颈，视频 13.2–14.7 s 撤出夹爪时瓶随末端移动，瓶的柜内原位变空，西兰花仍留在柜内；视频 15.0–17.2 s 机器人持瓶移动并降低躯干。"
+     },
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "推断：视频 17.4–19.2 s 机器人继续将瓶向台面下降，瓶底被前臂遮挡；视频 19.8–20.8 s 夹爪撤开后，深色标签瓶直立留在下方白色台面。由前后帧判断瓶首次接触台面约在视频 19.0 s，误差约 0.5 s。"
+     },
+     {
+      "t": 32.5,
+      "log_step": 105,
+      "text_zh": "观察：视频 21.0–29.0 s 糖浆瓶保持在白色台面左侧，机器人随后仅搬运西兰花；视频 31.5–32.5 s 机械臂部分遮住瓶所在区域。inputs/run.json 的 reward.success=1，log step 105 的两次独立重放 success=True 支持该放置关系的终态验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪夹住糖浆瓶瓶颈，将瓶从橱柜底层抽出并下降到白色台面，放下后撤开；视频 11.4–20.8 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在视频约 6.5–10.0 s 从灶前驶向橱柜，并在视频约 15.0–17.2 s 持瓶调整位置，支承机械臂完成柜内至台面的搬运。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.7,
+      "log_step": null,
+      "text_zh": "观察：视频 23.1 s 西兰花仍在橱柜底层右侧；视频 23.7–25.8 s 机器人夹爪伸向并夹住西兰花，视频 26.1–27.0 s 绿色西兰花随夹爪向外移动，柜内原位已空。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频 27.2–29.2 s 机器人持西兰花移动并降低躯干，视频 29.4–30.8 s 机械臂继续下降；视频 30.6–31.5 s 绿色花冠出现在低位夹爪旁、白色台面处。结合随后松爪撤离，首次接触台面约在视频 30.8 s，误差约 0.5 s。"
+     },
+     {
+      "t": 32.5,
+      "log_step": 105,
+      "text_zh": "观察：视频 31.6–32.5 s 机器人松开并抬起、撤回夹爪，西兰花不再随夹爪上升，部分被机械臂遮挡。inputs/run.json 的 reward.success=1、replay_success=1，log step 105 的两次独立重放 success=True 支持西兰花接触目标台面的终态判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂末端二指夹爪夹住柜内西兰花，抽出后下降到白色台面，松开并抬起撤回；视频 23.7–32.5 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在视频约 20.5–23.1 s 移动到西兰花所在柜前，并在视频约 27.2–29.2 s 持西兰花调整至放置位置，支承机械臂搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人将虾由白盘移入黑锅，并依次把糖浆瓶、西兰花从敞开的橱柜搬到下方白色台面，三个节点约在视频 4.8 s、19.0 s、30.8 s 成立，终态为 3/3。视频 31.6–32.5 s 机器人松爪、抬起并撤回，评分器 success=1、replay_success=1，支持三件物体放置及夹爪距各物体大于 0.25 米的联合验收通过，无失败断点。没有状态日志，放置瞬间部分被机械臂遮挡，首次接触时间约有 0.5 s 不确定性，距离阈值的精确满足由成功判定支持；评分器未报告四项原生距离数值，故均记为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个放置节点的时间和接触标注与视频相符，评分器 success=1 支持终态 3/3，无失败断点；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:47:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f3254164de631d6f2010457c24215caedf217a195274401fad34bf17bdd2567b",
+   "video_sha256": "f444356e591b2dd84d4c4399fa4f51fa73e8db30d2420166a7423ff4315a9df0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--snzghjc.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--snzghjc",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1165,
+   "sim_steps": 2330,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 247.55,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.451,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.242,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--snzghjc/replay.mp4",
+  "duration_s": 39.0,
+  "fps": 10.0,
+  "frames": 390,
+  "sha256": "2094099eaf103a6b2e80715201dad651d25095c7db6d327a92d5a1cfc831ded0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.8,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.2 s 机器人二指夹爪在白盘中的虾两侧闭合；视频 3.6–4.6 s 虾随夹爪升起，原白盘上不再有虾。"
+     },
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.5–6.0 s 机器人将虾降向黑色平底锅，视频 6.1–6.2 s 橙色虾落在锅中央；视频 6.8–8.0 s 夹爪向上退开，虾留在锅底，视频 28.0 s 仍可见锅中的虾。首次接触约为视频 6.2 s，误差约 0.3 s。"
+     },
+     {
+      "t": 38.9,
+      "log_step": 33,
+      "text_zh": "推断：终帧未同时显示灶上平底锅；结合此前虾在锅内、此后机器人未再操作虾，以及评分器 reward.success=1、replay_success=1、deterministic=1，虾与锅接触且水平中心距小于 0.07 米的关系保持到终态。log step 33 的整段重新生成与已保存动作数组相等，并再次验收成功，支持其对应交付轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂末端二指夹爪从上方夹住白盘上的虾，将其提起、移到平底锅中央后张开并撤离。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.0 s 糖浆瓶可见于打开的蓝色橱柜底层；视频 12.9–14.7 s 机器人夹爪在瓶盖附近闭合并回撤，视频 15.0–16.5 s 原柜内瓶子位置已空，瓶子随夹爪出柜。随后机器人移动底盘并降低夹爪。"
+     },
+     {
+      "t": 26.0,
+      "log_step": 33,
+      "text_zh": "推断：视频 24.0–26.5 s 机器人将瓶子降向白色台面，瓶底与台面的接触点被夹爪遮挡；视频 26.8–27.6 s 夹爪退开后，完整糖浆瓶直立留在烤面包机前方，与白盘处于同一台面。根据下降、松手和退开的连续画面，首次接触台面估计为视频 26.0 s，误差约 0.5 s；log step 33 对交付动作的复现输出也报告瓶子接触台面为 True。"
+     },
+     {
+      "t": 38.9,
+      "log_step": null,
+      "text_zh": "观察：视频 27.6–36.8 s 糖浆瓶始终直立于原台面位置；视频 37.2–38.9 s 瓶子部分被机械臂遮挡，瓶盖与瓶身可见部分仍停在该位置，未见再次抓取或离开台面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人单臂二指夹爪在糖浆瓶瓶盖附近夹住瓶子，携带出柜、下降至台面后张开退离。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.0–12.0 s 机器人移动底盘接近橱柜，视频 16.0–23.0 s 底盘后退并侧移，支承持瓶机械臂完成从橱柜到白色台面的搬运。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.8,
+      "log_step": null,
+      "text_zh": "观察：视频 27.6–32.0 s 机器人移动底盘返回橱柜，视频 33.0–36.0 s 夹爪靠近柜底绿色西兰花；视频 36.2–36.8 s 西兰���随夹爪略向上、向外移动。视频 36.9–37.3 s 机器人继续回撤，绿色物体下移并离开原柜层位置，随后被机械臂遮挡。"
+     },
+     {
+      "t": 37.4,
+      "log_step": 33,
+      "text_zh": "推断：视频 36.9–37.3 s 西兰花出柜后向下脱离夹持区域，结合 log step 33 对同一交付动作的完整复现报告西兰花位于台面高度、整体验收成功，及评分器 reward.success=1、replay_success=1、deterministic=1，判断其滑落后接触目标台面。首次落台约为视频 37.4 s，误差约 0.5 s；具体落点被机械臂遮挡，未以 agent 的自述替代对出柜动作的目视核对。"
+     },
+     {
+      "t": 38.9,
+      "log_step": 31,
+      "text_zh": "推断：视频 37.5–38.9 s 机器人保持姿态，西兰花落点持续被机械臂遮挡，未见再抓取；评分器终态成功决定该目标关系为真。log step 31 记录保存前从冻结初态重放全部动作并验收成功；log step 33 再次从头生成并确认与已保存动作逐项相同，排除了将会话中其他失败尝试当作本次交付的情况。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 36.2–36.8 s 西兰花随单臂二指夹爪短暂向上及向外移动，符合夹持；随后回撤时西兰花滑脱下移。夹指接触面部分遮挡，结合 log step 30、33 的相同控制脚本及出柜画面判断为短暂抓握，未完成受控松手放置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 27.6–32.0 s 机器人底盘后退、侧移再靠近橱柜，支承机械臂到达西兰花取物位置；滑落发生时底盘已停住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次完成虾入锅（约视频 6.2 s）、糖浆瓶上台面（约视频 26.0 s）和西兰花上台面（约视频 37.4 s），终态为 3/3；评分器确认交付轨迹成功且重放确定。西兰花是在机器人夹爪回撤时滑落到目标台面，关系仍被验收接受，成功轨迹不设失败断点。无逐帧状态日志，糖浆瓶首次接触和西兰花落点部分被机械臂遮挡，相关时间为画面与已核对交付日志支持的估计；三个物体的联合退离由终态成功支持，评分器未逐项报告四个距离指标，因此其原生指标值均留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个节点均达成、终态 3/3 与评分器成功一致；虾入锅、糖浆瓶上台面、西兰花落台面的时间在约 1 s 内成立，成功轨迹无失败断点，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:41:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--snzghjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--snzghjc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c003c82089906a5696397d9f491b1e42ed6c129b556577c5e26974b6844d0353",
+   "video_sha256": "2094099eaf103a6b2e80715201dad651d25095c7db6d327a92d5a1cfc831ded0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7.json

@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--txr7ui7",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1564,
+   "sim_steps": 3128,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 304.79,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.553,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.834,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7/replay.mp4",
+  "duration_s": 31.4,
+  "fps": 10.0,
+  "frames": 314,
+  "sha256": "2099041779fbfec1de1163a294597f1ad78f025de9e9eb5b4aebd3f3b3c82ed9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s，橙色虾位于灶旁白盘内，黑色平底锅内没有虾；视频 4.0 s 白盘已空，机器人机械臂随后转向锅。"
+     },
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "推断：视频 5.6–6.6 s，机器人夹爪下降至锅内并停留，视频 6.8–7.6 s 随机械臂抬离；落放处被机械臂遮住。视频 8.4–8.7 s 显露橙色虾留在锅中央附近，白盘为空，故将首次落锅记为视频约 6.4 s，误差约 0.5 s。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–10.2 s 底盘向橱柜移动时，虾仍留在锅内；随后机器人仅搬运糖浆瓶和西兰花，没有再操作虾。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.success=1、replay_success=1、deterministic=1，且视频没有虾离锅的反证，支持虾在终态接触锅且水平中心距小于 0.07 米；该距离没有逐帧实测值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "单臂二指夹爪夹取白盘内的虾，抬起转移至锅内后张开并退离；结合白盘变空、虾随转移落锅及最终交付脚本（log step 74、85）判断为夹持搬运。此段未见底盘行驶。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.6–12.0 s，机器人底盘沿台面移向已经打开的上方橱柜；视频 12.0–13.0 s 可见浅色标签深色糖浆瓶仍在柜内底层。"
+     },
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.2–18.0 s，糖浆瓶离开柜内原位，机器人夹爪夹住瓶颈，将瓶移出并向下搬运；视频 18.0 s 可见悬空瓶身及标签。"
+     },
+     {
+      "t": 19.9,
+      "log_step": null,
+      "text_zh": "推断：视频 19.0–19.7 s 机器人把糖浆瓶降低到台面，视频 19.8–20.3 s 瓶身转为横卧且不再随夹爪运动，视频 20.4–21.0 s 夹爪抬离、瓶仍贴在台面。首次接触取视频约 19.9 s，瓶身部分被机械臂遮住，误差约 0.3 s。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "观察：视频 23.0–29.8 s 可见糖浆瓶持续横卧在同一白色灶旁台面，末段仅被机器人机械臂局部遮挡；没有再次搬动糖浆瓶。评分器 reward.success=1、replay_success=1，与瓶仍接触目标台面的终态一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪夹住糖浆瓶瓶颈，提起、从柜内抽出并降低到白色台面，随后张开退离；瓶最终横卧在台面上。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 9.6–12.0 s，轮式底盘沿灶旁台面行驶，将机械臂送到橱柜前以取出糖浆瓶；行驶时支承机械臂，随后停车完成抓取和放置。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.6,
+      "log_step": null,
+      "text_zh": "观察：视频 23.6 s 绿色西兰花仍在橱柜底层右侧，机器人夹爪靠近它；视频 25.8–27.0 s 西兰花原位已空，机器人从柜前抽回机械臂。"
+     },
+     {
+      "t": 28.2,
+      "log_step": null,
+      "text_zh": "观察：视频 28.2–28.9 s 西兰花可见于二指夹爪之间，随夹爪从柜外下降到白色台面上方，已离开原来的柜内搁板。"
+     },
+     {
+      "t": 29.2,
+      "log_step": null,
+      "text_zh": "观察：视频 29.1–29.2 s 西兰花下降落到台面，绿色花球展开贴住表面；视频 29.3–29.8 s 它留在原处，夹爪开始上提。首次接触记为视频约 29.2 s，误差约 0.2 s。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "观察：视频 30.3–31.3 s 夹爪空手退开，西兰花保持在白色灶旁台面上，没有被再次提起或落到地面；评分器 reward.success=1、replay_success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂二指夹爪夹住西兰花，从橱柜搁板提起抽出，下降至台面后张开，再向上后方退离；此步没有可见的底盘行驶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人依次将虾放入锅（视频约 6.4 s）、糖浆瓶放到台面（视频约 19.9 s）和西兰花放到台面（视频约 29.2 s），三个节点终态均成立。视频 30.3–31.3 s 夹爪已空手退离，评分器 success=1、replay_success=1、deterministic=1 支持最终三个位置关系及联合退离条件均满足。没有状态日志，虾落锅和糖浆瓶首次触台的局部过程被机械臂遮挡，起始时间为结合前后帧的约值；评分器没有报告四项原生距离数值，均保留 null。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点的时间与接触标注与视频一致（虾约 6.4 s、糖浆瓶约 19.9 s、西兰花约 29.2 s），终态成立，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:43:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "599c49990052b080999f2256e9d8e3196842c4ed60d9a7a0a3a59973dd9b0152",
+   "video_sha256": "2099041779fbfec1de1163a294597f1ad78f025de9e9eb5b4aebd3f3b3c82ed9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 200,
+   "sim_steps": 400,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 118.79,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.904,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.265,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy/replay.mp4",
+  "duration_s": 10.1,
+  "fps": 10.0,
+  "frames": 101,
+  "sha256": "c0ba543e1710963b5cc933fa0dc111d79793bdcdf2d5a6b3a8ebd0025ee2c5f9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 虾位于炉灶左侧白盘，黑色平底锅内没有虾。"
+     },
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：视频 4.3–5.3 s 机器人二指夹爪合拢后上提，橙色虾随夹爪离开白盘；视频 6.3–7.3 s 夹爪携虾移到黑色锅上方。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.3–8.0 s 机器人下降并张开夹爪，视频约 8.0 s 橙色虾出现在锅底中央；视频 8.0–10.0 s 虾持续留在锅内，夹爪随后抬起离开。首次接触锅底的时刻有约 0.3 s 视觉误差；视频无从测量精确水平中心距，但虾明显落在锅中央。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.3–7.8 s 机器人单臂二指夹爪夹住虾，将其从白盘提起并搬到锅上，随后张爪释放。未见为该步主动驾驶底盘的动作，log step 490 的交付脚本也只设置机械臂和夹爪通道。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白盘所在灶旁台面上没有浅标签深色糖浆瓶；视频 0.0–10.0 s 机器人只操作虾，未前往橱柜取瓶，也没有糖浆瓶到达目标台面。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 490,
+      "text_zh": "推断：视频 9.0–10.0 s 机器人仅从锅上收回空夹爪；log step 490 的交付生成脚本从初态执行虾的搬放后直接保存，log step 494 确认动作数组为 200×13，与评分器 n_actions=200 一致。瓶子初在柜内（会话场景查询 log step 253），提交动作没有操作它，故糖浆瓶上台面全程未成立；会话中的柜前测试不属于评分视频。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白盘所在灶旁台面上没有绿色西兰花；视频 0.0–10.0 s 没有机器人从橱柜取菜或把西兰花送到此台面的动作，末秒仍仅为虾入锅后的退离。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 490,
+      "text_zh": "推断：log step 490 的交付脚本只包含虾的搬放并保存 200 条动作（log step 494，评分器亦记录 n_actions=200），与视频 0.0–10.0 s 一致；西兰花初在柜内（会话场景查询 log step 17、253），提交过程没有触碰或搬运它，故本节点未成立。log step 485、496 的西兰花测试另建会话，不能计入本次评分轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": null,
+   "log_step": 490,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–10.0 s 只展示机器人搬放虾，末秒收回夹爪后结束，没有向橱柜取糖浆瓶的动作；log step 490 的提交脚本在虾搬放后立即保存，log step 494 确认只有 200 条动作。推断：以任务说明先列出的后续糖浆瓶步骤（log step 11），以及会话首先准备的糖浆瓶抓取（log step 264）定位首个未启动的剩余步骤；西兰花也未启动。此为该步骤首步前失败，无法定位独立的物理出错瞬间，故视频锚点留空。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 490,
+    "evidence_zh": "观察：视频 0.0–10.0 s 机器人始终在白盘与锅附近，仅完成虾的搬放；log step 490 的保存脚本没有糖浆瓶或西兰花的取放段，log step 494 的 200 条动作与评分器记录一致。糖浆瓶上台面这一步在提交的评分尝试中根本未启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无逐帧状态日志，视频未转向柜内，糖浆瓶和西兰花的未达由初始柜内位置、完整提交脚本只操作虾以及目标台面全程未出现二者共同推断；精确接触时刻、0.07 米中心距及三个 0.25 米退离距离无法直接测量，评分器未报告这四项数值。根因留空：会话中确有糖浆瓶逆解误差（log step 266、272）和后续控制调试，但更换策略后另有低误差逆解（log step 283）；这些独立测试不足以确定最终为何只保存虾动作，不能据未尝试直接归因为规划、控制或误以为完成。"
+ },
+ "summary_zh": "评分轨迹中机器人抓起白盘上的虾，约在视频 8.0 s 将其释放到锅中央并保持至末帧，最终完成 1/3 节点。糖浆瓶和西兰花均未搬上台面，断点记为糖浆瓶步骤首步前的没尝试；log step 490、494 证实提交文件只包含 200 条虾搬放动作。柜内未在评分视频中展开，后两节点依据初态和完整提交动作推断未达；缺少足够证据确定省略后续动作的根因，且评分器未报告数值距离指标。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0–10 s 抽帧确认虾约 8 s 入锅并留到末帧，糖浆瓶、西兰花未被操作；log step 490/494 与评分器 n_actions=200 一致，节点值、断点（首步前·没尝试）与空根因加 gap_zh 均有依据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:46:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "71431003b58229da446239c8e09afc65da14bfc61e439c72360b24c5936cce8e",
+   "video_sha256": "c0ba543e1710963b5cc933fa0dc111d79793bdcdf2d5a6b3a8ebd0025ee2c5f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--3arqvk7.json

@@ -0,0 +1,250 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--3arqvk7",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 3669,
+   "n_actions": 3669,
+   "sim_steps": 3669,
+   "calls": 781,
+   "elapsed_s": 2381.8,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.707,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.953,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--3arqvk7/replay.mp4",
+  "duration_s": 30.7,
+  "fps": 10.0,
+  "frames": 307,
+  "sha256": "a6bb020c43bc36334f3676962f017eed2ede6d79cc1f723b26c35167c8b06cec"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾在灶左侧白盘上，黑色平底锅内没有虾。"
+     },
+     {
+      "t": 15.1,
+      "log_step": null,
+      "text_zh": "观察：视频 14.8–15.2 s，机器人二指夹爪抬起时虾短暂随动，随后从指端下落回白盘附近；视频 19.3–19.6 s 再次出现抬升后虾与夹爪分离，均未送达锅内。"
+     },
+     {
+      "t": 22.3,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–22.5 s，机器人再次夹取并向灶侧移动，虾随后出现在白盘后方、银色小家电右侧的台面边缘，黑锅仍为空；视频 23.0–29.9 s 的重新接近没有使虾进入锅内。"
+     },
+     {
+      "t": 30.6,
+      "log_step": 233,
+      "text_zh": "观察：视频 29.6–30.6 s，机器人末端退离，橙色虾仍在银色小家电右侧、锅外的台面上；锅内没有虾。log step 233 中 agent 也自述虾入锅失败，但节点值以视频中虾和锅的位置为依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.8–15.0 s、19.3–19.5 s，机器人单臂二指夹爪夹住虾并短暂抬起，随后虾滑离；视频 21.0–22.3 s 又进行夹取和搬运动作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.2–13.2 s，机器人在白盘和灶前调整移动底盘，支承机械臂继续接近虾；log step 146–148 的底盘驱动及本体读数也记录了这次靠近台面的移动。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白盘所在的灶旁台面未见糖浆瓶；本 DAG 将其初始位置说明为橱柜内。"
+     },
+     {
+      "t": 30.6,
+      "log_step": 233,
+      "text_zh": "推断：已检查视频 0.0–30.6 s，机器人始终在灶和白盘附近处理虾，没有从橱柜搬出糖浆瓶，目标台面也未出现糖浆瓶的放置结果，因此该节点始终不成立；log step 233 中 agent 自述糖浆瓶和西兰花均未尝试，与视频中的动作顺序一致。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白盘所在的灶旁台面未见西兰花；本 DAG 将其初始位置说明为橱柜内。"
+     },
+     {
+      "t": 30.6,
+      "log_step": 233,
+      "text_zh": "推断：已检查视频 0.0–30.6 s，机器人始终在灶和白盘附近处理虾，没有从橱柜搬出西兰花，目标台面也未出现西兰花的放置结果，因此该节点始终不成立；log step 233 中 agent 自述糖浆瓶和西兰花均未尝试，与视频中的动作顺序一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_in_pan",
+   "t": 15.1,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.8–15.2 s，机器人正在将虾从白盘抬起，虾却脱离夹爪落回盘面附近；视频 19.3–19.6 s 又抬起后掉落，后续向灶侧搬运及重新抓取也没有完成入锅。视频 30.6 s 虾仍在锅外，这个最先尝试的步骤始终没有修复。"
+  },
+  "unmet": {
+   "shrimp_in_pan": false,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 15.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.8–15.2 s，虾先随机器人夹爪短暂抬起，随后与指端分离并回落；视频 19.3–19.6 s 的再次抬升也以虾留在盘面、空夹爪升高结束。这些是取得短暂夹持后丢失负载，没有发生在锅内按计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人夹持控制没有形成能承受抬升和搬运的稳定抓持。视频 14.8–15.2 s、19.3–19.6 s 显示虾随夹爪升起后下落；log step 163、165 的脚本先发送闭合指令，抬升时仍保持闭合，返回的指关节读数却从约 0.007/-0.008 接近空夹状态；log step 179–180 在静止夹持后逐级抬升仍出现同样变化，log step 216 的低位搬运也记录了夹持逐渐丢失。结合视频，这支持控制层面的夹持稳定性不足；现有证据不能确定是接触几何、夹持力还是摩擦参数导致，故不指定子类。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志，只有 320×240 的外部视频；夹爪接触区局部被机械臂遮挡，且没有接触力或摩擦参数记录，不能核实 agent 在 log step 233 自述的“摩擦太低”，也不能断定虾在灶边受阻的具体接触机制。橱柜内部在本次视频中未展示，糖浆瓶和西兰花未达成依据初态、全程没有搬运动作及未出现目标放置结果综合判断。四项原生距离指标均未由评分器报告，保留 null；agent 脚本自行计算的距离不填作评分器指标。"
+ },
+ "summary_zh": "本次在线评分轨迹只尝试了虾放入锅，三节点始终均未达成，最终为 0/3；糖浆瓶和西兰花没有开始搬运。断点在虾入锅的操作中：机器人短暂夹住虾后在抬升、搬运时失去夹持，最终虾留在锅外台面，支持控制层面的夹持稳定性不足。没有状态日志或接触力记录，无法进一步确定夹持失败的具体物理原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三节点全未达成、断点为虾入锅的操作中、现象为接触·没保持住、根因为控制（子类不明）均与视频帧一致；未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:22:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--3arqvk7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--3arqvk7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "90bfaaae9bf3ea24e61713989e21230c8f609e0800f539612a6bd13b7177f5fc",
+   "video_sha256": "a6bb020c43bc36334f3676962f017eed2ede6d79cc1f723b26c35167c8b06cec",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--bjbiwns.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--bjbiwns",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 9410,
+   "n_actions": 9410,
+   "sim_steps": 9410,
+   "calls": 571,
+   "elapsed_s": 3116.7,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.445,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.634,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--bjbiwns/replay.mp4",
+  "duration_s": 30.5,
+  "fps": 10.0,
+  "frames": 305,
+  "sha256": "04bc8c379bdc5245eef6dbd8057f4a5ab6a835ede7083ce66d4a15b5f3cd3da1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.2,
+      "log_step": 18,
+      "text_zh": "观察：视频 0.5–0.7 s 二指夹爪夹起橙色虾，白盘随即变空；视频约 1.2 s 虾出现在黑色锅中央，视频 1.6–1.8 s 手臂退开后虾仍在锅内，视频 3.0–4.5 s 也可见虾留在锅中。首次落锅时手臂有遮挡，达到时刻约有 0.3 s 不确定性；log step 18 的脚本执行移至锅上、张爪和退离。"
+     },
+     {
+      "t": 30.4,
+      "log_step": 120,
+      "text_zh": "推断：视频 4.5 s 后机器人移到旁边橱柜，后续动作未再接近锅，结合此前虾已落在锅中央且未见锅被移动，判定该关系保持至视频结束。视频末段锅在画面外；log step 120 是退臂收尾操作，没有再次搬动虾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.5–0.8 s Panda 二指夹爪夹住白盘中的虾并带离盘面，随后向锅内释放。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": 49,
+      "text_zh": "观察：视频 5.4 s 糖浆瓶直立在柜内底层；视频约 6.0–6.5 s 机器人将夹爪从侧面伸向瓶身，瓶子随后横倒在层板上，夹爪退开时瓶子没有随手离柜。log step 49 的 s18.py 是侧向接近、闭爪并尝试抽出的操作。"
+     },
+     {
+      "t": 30.4,
+      "log_step": 122,
+      "text_zh": "观察：视频 7.0–15.0 s 与视频 19.0–30.4 s 机器人多次伸入柜内调整、推拨瓶子；视频 29.0–30.4 s 瓶子仍横躺在深蓝色底层板上，下方白色台面只有西兰花。agent 在 log step 122 也自述糖浆瓶未完成；本节点由画面中瓶子未移至目标台面判为未达，不从总分为零推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 6.0–6.5 s 二指夹爪侧向碰动糖浆瓶并将其碰倒，后续又拨动瓶身；未看到瓶子被可靠夹住并带离层板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 26.0–29.9 s 夹爪贴近横倒瓶身做向外擦拉动作，瓶子仍停在柜板上；log step 116、119 的脚本反复降低末端并横向移动，与画面中的擦拉操作相符。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.0–5.5 s 轮式底盘驶到装有糖浆瓶的橱柜前支承伸臂，视频约 22.0 s 又调整停靠位置；log step 43、44、106 记录了底盘平移命令。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.3,
+      "log_step": 101,
+      "text_zh": "观察：视频 15.0–16.4 s 二指夹爪在柜内夹住绿色西兰花并将其带出，原层板位置变空；视频 16.5–17.2 s 手臂携物向白色台面下降，视频约 17.3 s 西兰花已与夹爪分离、落在下方白色台面上。视频 17.4–18.9 s 手臂退开时西兰花保持在台面；log step 101 执行下降、张爪与退���。"
+     },
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频 19.0–30.4 s 西兰花一直留在柜下白色台面，机器人随后只操作柜内糖浆瓶。视频 4.0–5.5 s 的转移视角显示此处为沿墙延伸的灶旁台面；其放置关系与 oracle 视频中柜下白色台面的目标关系一致，oracle 仅用于理解目标外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 15.0–16.4 s Panda 二指夹爪闭合夹住西兰花，将其从柜内层板带出，再向台面释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 4.0–5.5 s 底盘驶近同时存放糖浆瓶与西兰花的橱柜，支承随后从柜中取出西兰花的机械臂；log step 43、44 记录这一停靠移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": 6.4,
+   "log_step": 49,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6.0–6.5 s 机器人首次从侧面抓取糖浆瓶时把瓶子碰倒，抽手后瓶子留在柜内；视频 7.0–15.0 s 以及视频 19.0–30.4 s 的后续取瓶、擦拉操作均未将其移到下方台面。西兰花随后放好并未修复糖浆瓶这一步，因此断点为糖浆瓶上台面。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 6.4,
+    "log_step": 49,
+    "evidence_zh": "观察：视频 5.4 s 糖浆瓶还直立，视频约 6.0–6.5 s 机器人夹爪向瓶身侧面伸入后瓶子倒卧在柜内层板上，视频 6.6 s 机器人退开时瓶子仍留在原柜中。该碰倒发生在取瓶操作中，尚未发生目标台面上的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 6.4,
+    "log_step": 49,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人已找对糖浆瓶及目标台面，但侧向接近与闭爪没有完成受控取瓶：视频约 6.0–6.5 s 瓶子被推倒而没有随夹爪抽出。log step 49 中脚本要求夹持点到达 [5.395,-2.95,1.485]，返回位置约为 [5.354,-2.927,1.478]，仍继续闭爪、抬起和回抽；log step 116、119 继续执行擦拉并报告末端未达其设定目标，视频 26.0–30.4 s 瓶子仍在柜内。这些证据支持取瓶运动和接触执行失败，不能独立确定为感知误差、逆解、反馈控制或抓取几何的某一子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs 中没有状态日志，评分器只给整体失败、未报告四项距离指标；视频为 320×240 像素，不能精确测量虾与锅的 0.07 m 中心距、三个 0.25 m 退离距离或夹指接触力。虾入锅与西兰花落台时刻由邻近帧估计；视频末段锅在画面外，虾的最终保持由此前落锅及之后未再操作该处推断。糖浆瓶细部接触有遮挡，不能核实 agent 在 log step 122 所称瓶宽和层板阻挡是否是独立的确切根因，因此仅归控制。"
+ },
+ "summary_zh": "机器人把虾从白盘放入锅内，并在视频约 17.3 s 将西兰花放到柜下的灶旁台面，最终完成 2/3 个节点。糖浆瓶在视频约 6.0–6.5 s 的首次侧向取瓶时被碰倒，后续反复操作仍留在柜内，断点为糖浆瓶上台面，证据支持控制失败。没有状态日志或评分器距离读数，精确阈值与末段画面外的虾终态主要依靠视觉及动作连续性判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（糖浆瓶上台面）与帧一致：虾约 1.2 s 入锅，西兰花约 17.3 s 落台面，糖浆瓶全程留在柜内；现象与根因有证据且保守，未发现需要改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:43:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--bjbiwns/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--bjbiwns/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "50c4d1d9913405db2c05f3f2d7b707f4f4cff8a108920f0464b881ea5d2f2cf0",
+   "video_sha256": "04bc8c379bdc5245eef6dbd8057f4a5ab6a835ede7083ce66d4a15b5f3cd3da1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--gddknua.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--gddknua",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 9136,
+   "sim_steps": 9136,
+   "calls": 2452,
+   "elapsed_s": 3412.4,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.414,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.004,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--gddknua/replay.mp4",
+  "duration_s": 30.6,
+  "fps": 10.0,
+  "frames": 306,
+  "sha256": "c356594e45fcf9a393c640bfb8196d51c8339f348d14f67495ebb376ea6cd5fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–16.9 s 的视角转动后，橙色虾清楚留在灶左侧白盘中，黑色锅内为空；视频 17.0–21.9 s 机器人多次下降、抬起及开合夹爪，虾未随夹爪离盘。"
+     },
+     {
+      "t": 23.3,
+      "log_step": null,
+      "text_zh": "观察：视频 22.4–23.3 s 机器人夹爪空着，虾仍在原白盘中；视频 24.1–30.5 s 机器人继续调整机械臂和底盘，未见带虾入锅，最后一秒可见的锅内仍无橙色虾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 15.9–16.7 s、22.0–22.4 s 及 23.4–23.8 s，机器人底盘转动或平移，支承机械臂调整到虾附近；二指夹爪反复空夹，未观察到对虾的包夹抓握，因此不记抓握接触。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–23.3 s 展示白盘及灶左台面，未出现糖浆瓶；机器人一直空手调整，未见从上方柜内取物并放到该台面的动作。"
+     },
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "推断：通看视频 0.0–30.5 s，机器人没有搬运糖浆瓶，可见目标台面未出现该物；结合其初始在柜内的任务初态，判该关系从未成立。视频末段上柜及部分目标台面在画外，终态由连续动作及此前台面画面判断，不由成功值 0 单独反推。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–23.3 s 展示白盘及灶左台面，未出现西兰花；机器人一直空手调整，未见从上方柜内取物并放到该台面的动作。"
+     },
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "推断：通看视频 0.0–30.5 s，机器人没有搬运西兰花，可见目标台面未出现该物；结合其初始在柜内的任务初态，判该关系从未成立。视频末段上柜及部分目标台面在画外，终态由连续动作及此前台面画面判断，不由成功值 0 单独反推。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_in_pan",
+   "t": 17.1,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.0–17.7 s，机器人向白盘附近下探并收回空夹爪，橙色虾仍留盘中；视频 18.0–23.3 s 后续调整也未带走虾。此后至视频 30.5 s 未完成虾入锅，因此这是最早尝试���未修复的失败步骤。"
+  },
+  "unmet": {
+   "shrimp_in_pan": false,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 17.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频 17.0–17.7 s 夹爪在虾附近空夹、后退，视频 18.6–18.9 s 和 21.5–23.3 s 可见虾始终在白盘上，夹爪未夹住或提起虾；没有先持住再滑落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 120 的 agent 控制器 Arm.move_delta 用已探测的固定局部 Jacobian 计算关节增量；log step 131 对虾上方目标迭代时，脚本根据服务返回的末端位置记录误差从 0.539 m 增至 0.757 m，随后仍执行闭爪。观察：log step 140 的脚本发送底盘前进指令后，服务末端位置读数的变化经脚本计算并保留三位小数为 moved=[-0. -0. -0.]，脚本因此打印 base blocked 并退出前进循环；随后接近误差降至约 0.34–0.35 m，结束时为 0.3438 m，脚本输出 gripped False。这里的误差针对脚本估计的虾上方目标，base blocked 也不是服务对碰撞或限位的诊断。观察：log step 144 在退避机械臂后，脚本根据末端位置与估计的虾位置计算 dist to shrimp=0.63 m；这不是接近过程中的最小距离。推断：上述到位误差不收敛及前进指令后末端几乎不动，与视频 17.0–23.3 s 的空夹及虾不离盘一致，支持控制器未使夹持点到达虾处，具体控制子因仍不确定；这些日志读数未换算成视频时间。",
+    "source_zh": "日志",
+    "note_zh": "现有证据不足以区分局部运动学模型误差、姿态跟踪和底盘配置的具体贡献，故停在控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，不能量测实际接触对及四项终态距离指标，原生指标均为 null。视频仅有一个外部视角，上柜内部及末段部分目标台面在画外，但连续画面没有取放糖浆瓶或西兰花的动作，故其节点判 false。日志 9136 个控制步按 control_dt=0.05 s 为仿真 456.8 s，与视频 30.6 s 不同，未建立映射，不把日志动作强绑到视频时刻。log step 140 有前进指令后末端位置几乎不变及接近误差残留 0.3438 m 的观测，但缺少独立底盘位姿、阻挡接触及关节限位读数，无法确定不动的原因是碰撞、限位还是控制执行问题；不能仅凭该残差证明目标超出可达工作空间，故不增标被挡/碰撞或够不着，根因仍判控制。log step 153 的工作空间不可达说法仍属于 agent 自述，log step 144 的 0.63 m 则是在退避后针对估计虾位置计算的距离。"
+ },
+ "summary_zh": "本次评分尝试三个节点均未达到，最终为 0/3：机器人反复调整底盘和机械臂尝试夹虾，虾始终留在白盘上，糖浆瓶和西兰花未被搬到目标台面。断点为虾放入锅，夹爪未建立抓持，日志中的目标误差不收敛支持控制问题；缺少状态日志和视频与控制步映射，无法进一步核实具体控制子因及距离阈值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（0/3、断点 shrimp_in_pan、三节点 false、contact_actual 仅底盘）与视频一致；问题在 why：gap_zh 称“无独立证据”，但 log step 140 的服务读数（底盘前进指令 moved=[0,0,0]，'base blocked'）和夹爪停在虾 0.34–0.35 m 外是被忽略的可达性/被挡观察，应写入根因证据并修正 gap_zh。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（0/3、三节点均 false、断点 shrimp_in_pan、contact_actual 仅底盘）与视频一致：虾在 15.5–24 s 仍在白盘中，末段无带虾入锅；根因为控制，证据区分了观察与推断，gap_zh 已如实说明无法区分碰撞/限位。第 1 轮意见已被采纳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:20:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--gddknua/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--gddknua/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--gddknua/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--gddknua/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f9c2c86f3fdaad80e0fae2dc253b1b14b182ea0df6b1abf11ab17afa612b90ee",
+   "video_sha256": "c356594e45fcf9a393c640bfb8196d51c8339f348d14f67495ebb376ea6cd5fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qrevhyv.json

@@ -0,0 +1,274 @@
+{
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+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
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+   "finalized": 1,
+   "control_steps": 3021,
+   "n_actions": 3021,
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+   "calls": 220,
+   "elapsed_s": 2454.2,
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+   "resource_enforced": 0,
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+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.004,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.969,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--qrevhyv/replay.mp4",
+  "duration_s": 30.4,
+  "fps": 10.0,
+  "frames": 304,
+  "sha256": "1c856d13a50a4e79e5eecf35509196f91ec5dd148824f4f378bf2084681b8394"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 橙色虾位于灶左侧白盘上，黑色平底锅内没有虾。"
+     },
+     {
+      "t": 12.1,
+      "log_step": 212,
+      "text_zh": "观察：视频 10.6–11.6 s 机器人夹爪在白盘处闭合并抬起，虾离开原处；视频 11.7–12.1 s 夹爪移到黑锅内下降，视频 12.1–12.5 s 松开并离开后，橙色虾留在锅底中央附近。入锅时刻取视频约 12.1 s，误差约 0.3 s。"
+     },
+     {
+      "t": 30.3,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–30.3 s 虾持续留在锅内，视频 29.3–30.3 s 的末秒各帧也未见虾被移走。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.6–12.5 s 单臂二指夹爪夹住虾，抬离白盘并搬到黑色平底锅内松开；早先空夹尝试随后被这次成功搬运修复。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 灶旁白色台面未见浅标签深色糖浆瓶。"
+     },
+     {
+      "t": 13.5,
+      "log_step": 251,
+      "text_zh": "观察：视频 13.2–14.6 s 机器人抬臂、闭指并空手回撤，未见柜门被拉开或瓶子被取出；log step 251 记录首次开柜脚本闭指后的服务夹指位置，间距为 0.0012 米。"
+     },
+     {
+      "t": 30.3,
+      "log_step": 359,
+      "text_zh": "观察：视频 18.0–30.3 s 机器人多次接近上柜后空手返回，末秒台面仍无糖浆瓶；log step 359 中 agent 明确把开柜目的称为寻找糖浆瓶和西兰花。推断：本次仅进行共同取物准备，糖浆瓶上台面始终未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 13.2–30.3 s 机器人为寻找柜内两件食材反复向上柜伸手、闭指、回撤；部分夹指与把手区域在画面上缘之外，无法确定实际接触对及接触方式，未见夹爪夹住食材。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 17.5–18.1 s 机器人底盘移动，机载外部视角相对台面整体平移，为柜内食材的共同取物准备调整位置；log step 346 的服务本体读数也记录底盘前向关节从 -14.6021 变到 -14.1960。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色灶旁台面未见绿色西兰花。"
+     },
+     {
+      "t": 30.3,
+      "log_step": 359,
+      "text_zh": "观察：视频 0.0–30.3 s 未见机器人把绿色西兰花从柜内带出，视频 18.0–30.3 s 的多次伸手回撤均未携带西兰花，末秒可见台面也没有新放置的绿色食材；log step 359 的开柜搜索同时针对糖浆瓶和西兰花。推断：共同准备已启动，西兰花放到目标台面的条件从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 13.2–30.3 s 机器人为寻找柜内两件食材反复向上柜伸手、闭指、回撤；部分夹指与把手区域在画面上缘之外，无法确定实际接触对及接触方式，未见夹爪夹住食材。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 17.5–18.1 s 机器人底盘移动，机载外部视角相对台面整体平移，为柜内食材的共同取物准备调整位置；log step 346 的服务本体读数也记录底盘前向关节从 -14.6021 变到 -14.1960。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": 13.5,
+   "log_step": 251,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 12.1 s 虾入锅后，视频 13.2–14.6 s 机器人为取柜内食材执行伸手、闭指和回拉，却空手返回，未见柜门打开；此后直到视频 30.3 s 多次重复尝试仍未取出糖浆瓶。log step 241、251 记录该开柜动作及近乎完全闭合的夹指，log step 359 明确说明开柜是为寻找糖浆瓶和西兰花。推断：取糖浆瓶所需的柜前操作是首先持续未修复的步骤；两件食材共用取物准备，按任务列举顺序以糖浆瓶节点承载断点。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 13.5,
+    "log_step": 251,
+    "evidence_zh": "观察：视频 13.2–14.6 s 机器人闭指回拉后仍空手，柜门未见随夹爪转动；log step 251 的首次开柜执行输出显示闭指后两指间距仅 0.0012 米。推断：该次未建立能够夹住并驱动柜门把手的有效夹持，取物准备失败；视频 18.0–30.3 s 的后续尝试也未产生可见开柜或食材转移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 241、262、357、365、401、412 的脚本反复执行接近把手、闭指和回拉，log step 251 首次闭指间距为 0.0012 米；视频 13.2–30.3 s 机器人执行这些伸手和回撤动作，始终未见柜门打开或食材被取出。推断：取物准备中的末端操作未形成可用的把手夹持，控制未能完成接近、接触和开柜；证据不足以进一步分为抓取几何、逆解或反馈跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对；画面顶部遮住部分把手与夹指交互，能由空手回撤、柜门不动及首次服务夹指读数推断有效夹持未建立，但无法逐次判清是否擦碰柜门、定位误差或控制子类。柜内食材本身未被清楚展示，两个未达节点依据全过程无搬出及可见目标台面无放置结果判假，不由零分反推；共同准备无法在糖浆瓶和西兰花之间唯一归属，断点按任务列举顺序归糖浆瓶。虾的中心距及三物体联合退离距离无评分器数值，原生指标均留 null；agent 自行视觉估计未当作评分器指标。"
+ },
+ "summary_zh": "机器人在视频约 12.1 s 把虾放入锅并保持至末态，最终完成 1/3 个节点。随后为取糖浆瓶和西兰花多次尝试上柜把手操作，但未建立有效夹持、未见开柜或食材搬出，断点归糖浆瓶上台面；上缘遮挡和缺少状态日志使具体接触方式及控制子类仍不确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "虾入锅约 12.1 s 与帧一致，糖浆瓶和西兰花全程未上台面；断点、没建立接触（闭指间距 0.0012 m 推断空夹）和控制根因均有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:47:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--qrevhyv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--qrevhyv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66ae461b6e262c0dd7e485c2cec0524b516f58350e98debe3d9d44a076cc0fd3",
+   "video_sha256": "1c856d13a50a4e79e5eecf35509196f91ec5dd148824f4f378bf2084681b8394",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--qsqh5pj",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 1816,
+   "sim_steps": 1816,
+   "calls": 56,
+   "elapsed_s": 3227.6,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.229,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.315,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj/replay.mp4",
+  "duration_s": 30.4,
+  "fps": 10.0,
+  "frames": 304,
+  "sha256": "b4e64ad6080f7051ec992263140b054b296cd7591d8a17e7371b696d52e89431"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾在灶左侧的白盘上，未在黑色平底锅中。"
+     },
+     {
+      "t": 9.3,
+      "log_step": 44,
+      "text_zh": "推断：视频 7.3–8.5 s，机器人夹爪提着虾，原白盘上已无虾；视频 8.7–9.3 s，夹爪移到锅上并下降，视频 9.4 s 起撤离。视频 10.1–11.0 s 显露的锅底中央有橙色虾，故将入锅时刻估为视频 9.3 s；接触瞬间受机械臂遮挡，约有 0.5 s 误差。log step 44 的脚本执行移至锅中央、下降、开爪和撤离，与画面一致。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "推断：视频 11.0 s 可见虾留在锅中央，之后机器人移向旁边橱柜；至视频 30.3 s，后续动作仅涉及橱柜及其下方台面，没有再次操作虾或锅，因此该关系保持至结尾。中心距离是否严格小于 0.07 米只能由中央落点作视觉判断，未获评分器数值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.3–8.5 s，机器人单臂二指夹爪夹持橙色虾，虾离开白盘并随夹爪移动；随后在锅内松开。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": 95,
+      "text_zh": "观察：视频 12.5 s、20.0 s，浅色标签的深色糖浆瓶仍直立于上方蓝色橱柜底层。视频 21.1–22.8 s，机器人末端进入瓶颈附近并向外抽回，但腕部遮住两指与瓶颈的接触；log step 95 的脚本要求闭爪、抬高和外拉，未要求在该段开爪释放。"
+     },
+     {
+      "t": 23.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 22.9 s，糖浆瓶翻转着出现在机器人腕部下方；视频 23.0 s 瓶体已与末端分离并下坠，视频 23.1 s 从台面前方视野消失，未见其落在台面上形成承托或反弹。log step 96 的服务返回两指位置约为 0.00057、-0.00043，外拉结束时夹爪接近完全闭合。"
+     },
+     {
+      "t": 30.3,
+      "log_step": 132,
+      "text_zh": "推断：视频 23.1–30.3 s，目标台面上未出现糖浆瓶，机器人随后搬放西兰花并降低躯干，未见回拾瓶子；log step 132 中 agent 的深度分析把瓶体定位在离地约 0.043 米处，log step 145–148 仅执行和检查降低躯干。因此糖浆瓶上台面未达到，结尾仍为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 10.5–12.6 s，机器人轮式底盘向装有糖浆瓶的橱柜移动，灶台在机器人外部视角中横向移出；log step 48、50、59 记录了底盘移动命令及位移。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 15.0–19.6 s，机器人末端拨动、扫开挡在取瓶路径上的蓝色柜门，随后进入柜内；log step 84、89 的闭爪扫门动作与柜门运动相符。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 21.1–22.8 s，机器人夹爪到达糖浆瓶处，但腕部遮挡瓶颈与两指；视频 22.9–23.0 s 可见瓶体���柜后掉下。无法确认是否建立过对向夹持，不能把脚本中的闭爪命令直接当成实际抓握。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": 106,
+      "text_zh": "观察：视频 24.0 s，绿色西兰花仍在蓝色橱柜底层右侧；视频 24.1–26.0 s，机器人末端进入该位置，西兰花离开原处并随末端向柜外移动，随后下降到下方白色台面。"
+     },
+     {
+      "t": 28.4,
+      "log_step": 123,
+      "text_zh": "观察：视频 28.3–28.4 s，机器人夹爪撤开后，绿色西兰花显露在烤面包机前方的白色台面上；视频 28.5–30.3 s 它留在该台面上，未再被提起。该台面与白盘所在台面连续，终态节点成立；首次清楚看到落稳取视频 28.4 s，约有 0.3 s 遮挡误差。log step 123 的脚本执行下降、开爪和撤离，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24.1–26.0 s，机器人单臂二指夹爪在西兰花处闭合，绿色物体离开柜内原位置并随末端移动，随后下降并留在下方台面；log step 106–107 的夹取外拉和 log step 123 的放置动作与画面相符。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "syrup_on_counter",
+   "t": 22.9,
+   "log_step": 95,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.1–22.8 s，机器人正在从橱柜取糖浆瓶；视频 22.9–23.1 s，瓶体在外拉过程中翻转并掉出台面前方视野。之后机器人搬放西兰花并降低躯干，到视频 30.3 s 未把糖浆瓶放回目标台面；这是最早未修复的目标步骤失败。log step 95–96 对应夹取和抽出瓶子的动作。"
+  },
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "其他",
+    "t": 22.9,
+    "log_step": 95,
+    "evidence_zh": "观察：视频 22.9 s，糖浆瓶从机器人腕部下方翻出，视频 23.0 s 与夹爪分离下坠，视频 23.1 s 消失在台面前方。log step 95 的脚本在夹取、提升和外拉期间持续命令闭爪，没有计划释放瓶子。",
+    "note_zh": "候选“非预期脱离承托”：瓶体离开橱柜支承后掉落可以确认，但瓶颈处一直受腕部遮挡，无法确定两指曾否形成夹持，故不能在“没建立接触”“没保持住”或“被挡/碰撞”之间可靠选择；依 CASES.md OPEN-19 使用其他。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或接触对，视频 21.1–22.8 s 的瓶颈和两指被腕部遮住；无法分清未夹牢、夹持后滑脱或抽出时碰落，也不足以在接触设计、控制跟踪及感知误差之间确定根因，故根因层留空。视频 23.1 s 后地面瓶体不在该外部视角内，其结尾未回到台面由后续画面及 log step 132 的 agent 深度分析交叉推断。虾接触锅的瞬间受遮挡，各距离指标及联合退离条件没有评分器数值。log step 149 记载模型提供方过滤中断，但视频 22.9–23.1 s 的实体落瓶已先发生且未修复，依已发生的物理失败标注；过滤中断本身不作为现象或根因。"
+ },
+ "summary_zh": "机器人将虾从白盘移入锅内，并把西兰花搬到灶旁台面，终态完成 2/3 个节点。糖浆瓶在视频约 22.9 s 的出柜过程中掉下，随后未被放回台面，因此断点为糖浆瓶上台面；其掉落早于日志末尾的模型过滤中断。瓶颈接触受腕部遮挡且没有状态日志，不能确定是未夹牢、滑脱还是碰落，根因留空，距离阈值及联合退离也无数值可核验。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（糖浆瓶，视频约22.9 s掉落）、其他现象及空根因层均与视频相符；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:46:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25879e5dd9e83527ab24b6669f11ceb6b134eb9e3048c04268a86e9c50a7e251",
+   "video_sha256": "b4e64ad6080f7051ec992263140b054b296cd7591d8a17e7371b696d52e89431",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--t3e49rc.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--t3e49rc",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 14812,
+   "n_actions": 14812,
+   "sim_steps": 14812,
+   "calls": 1300,
+   "elapsed_s": 3607.3,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.322,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.536,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--t3e49rc/replay.mp4",
+  "duration_s": 30.4,
+  "fps": 10.0,
+  "frames": 304,
+  "sha256": "e4e562aa132503107d310eb4a422cd0e95d70aca3312f8395e47e96a4017cefc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾在灶左侧白盘中，黑色平底锅内没有虾。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.2–7.8 s 机器人机械臂反复伸缩、转动，虾仍在原白盘；视频 8.0–9.9 s 的逐帧检查中，夹爪在白盘与锅附近移动后抬起，虾没有随夹爪离盘，锅内仍空。"
+     },
+     {
+      "t": 30.3,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–29.0 s 的连续抽帧及视频 29.4–30.3 s 的逐帧末段检查中，机器人重复接近和撤回，未把虾搬入锅；视频 30.3 s 虾仍在原白盘位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.4–1.0 s 及视频约 22.0 s，机器人底盘转向或调整位置，支承正在尝试取虾的单臂。夹爪多次接近虾但未见对向夹住虾，故不将空夹计为已发生的抓握。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白盘所在的灶旁白色台面没有糖浆瓶。"
+     },
+     {
+      "t": 30.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.3 s 的全程抽帧中，机器人始终围绕虾和锅调整机械臂，未见搬运糖浆瓶，目标台面也未出现糖浆瓶；视频 29.4–30.3 s 逐帧检查仍如此。"
+     },
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：log step 29–43 的操作脚本一直定位和尝试抓放虾，最后 log step 43 仍在重试取虾；结合目标台面始终没有糖浆瓶，判断此节点未成立，未启动该物体的搬放。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，白盘所在的灶旁白色台面没有西兰花。"
+     },
+     {
+      "t": 30.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.3 s 的全程抽帧中，机器人始终围绕虾和锅调整机械臂，未见搬运西兰花，目标台面也未出现西兰花；视频 29.4–30.3 s 逐帧检查仍如此。"
+     },
+     {
+      "t": null,
+      "log_step": 43,
+      "text_zh": "推断：log step 29–43 的操作脚本一直定位和尝试抓放虾，最后 log step 43 仍在重试取虾；结合目标台面始终没有西兰花，判断此节点未成立，未启动该物体的搬放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_in_pan",
+   "t": 1.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1.2–1.8 s，机器人机械臂运动到白盘前下方，未夹起盘中的虾；其后多轮接近和抬臂均未完成取虾，视频 8.0–9.9 s 和视频 29.4–30.3 s 可见虾仍留在原处。该入锅步骤一直未修复，后两件食材未搬放。"
+  },
+  "unmet": {
+   "shrimp_in_pan": false,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 1.2–1.8 s 的首次失败接近后，虾仍在白盘；视频 8.0–9.9 s 机器人夹爪靠近、抬起和转向锅时没有携带虾，后续直至视频 30.3 s 虾也未离开原位置。未见夹爪形成搬运所需的夹持，故不是夹起后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的运动脚本在 log step 30 输出取虾下降目标的逆解残差约 0.513 m；log step 31–33 的离线逆解测试仍有明显位置、姿态误差，log step 34 实际末端反馈误差随补偿增大。log step 39 在末端与估计虾位置仍有约 0.19 m 偏差时继续闭爪，log step 40–41 的伺服重试也反复残留误差；结合视频 1.2–9.9 s 及视频 10.0–30.3 s 的空手运动，说明控制程序未可靠把夹爪送到抓取位置。模型、逆解和闭环执行均存在问题，证据不足以只归到一个控制子类。",
+    "source_zh": "日志",
+    "log_step": 39
+   }
+  ],
+  "gap_zh": "没有状态日志，视频为单一外部视角且分辨率较低，不能判定每次指尖是否轻触虾，也不能量测各项距离；未见有效夹持，实际接触仅记录可确认的移动底盘支撑。上柜内部不在主要视野，糖浆瓶和西兰花节点依据目标台面未出现物体及没有相应搬运动作判为未达。视频时钟与日志控制步没有经过可见事件核对的映射，日志数值仅作控制根因证据，不换算成视频时间；评分器未报告四项原生距离值。"
+ },
+ "summary_zh": "机器人反复尝试取虾，但虾始终留在灶旁白盘，三个放置节点均未达到，糖浆瓶和西兰花未启动搬放。断点为“虾放入锅”的操作中：夹爪没有建立有效夹持，日志中的逆解与末端反馈误差支持控制问题。无状态日志且视频分辨率较低，细微接触和精确距离无法核实；三物体均未就位，尚未进入联合退离验收。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "三个节点均未达、断点为 shrimp_in_pan 的操作中，视频帧（0–30.3 s）可见虾始终留在白盘附近、锅内无虾，与标签一致；没建立接触 + 控制根因有日志 step 30–41 的逆解和伺服误差支持，且未把日志时间换算成视频时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:21:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--t3e49rc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--t3e49rc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e613c6ea745c71f18041f844eda7cfb076869808cb6e425d6e1aa40a048d7e3e",
+   "video_sha256": "e4e562aa132503107d310eb4a422cd0e95d70aca3312f8395e47e96a4017cefc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--y9zvasc.json

@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-assemble-cooking-array-i00-standard--y9zvasc",
+ "taskKey": "robocasa365/assemble_cooking_array",
+ "dag_sha256": "5ae9d86b0afd924acb0f64bba5a28a3103cae96890d5bb16d717570041f1dd4b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 8782,
+   "n_actions": 8782,
+   "sim_steps": 8782,
+   "calls": 2555,
+   "elapsed_s": 3472.1,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.307,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.883,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-assemble-cooking-array-i00-standard--y9zvasc/replay.mp4",
+  "duration_s": 30.4,
+  "fps": 10.0,
+  "frames": 304,
+  "sha256": "afc0f07a604ffb3c80ee7ebf6bb3e642c6a80a9987dc6331209f740a209bf2d4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "shrimp_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–13.5 s 机器人多次在白盘上方调整二指夹爪，橙色虾仍在白盘；视频 13.5–14.7 s 虾被两指夹住并随夹爪离开白盘。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–16.0 s 机器人将虾移至黑色平底锅中央并释放，视频 16.0–16.5 s 虾平躺在锅底，白盘已空；视频 17–30.3 s 虾一直保留在锅中央附近。"
+     },
+     {
+      "t": 30.3,
+      "log_step": null,
+      "text_zh": "推断：视频 16.0 s 起虾与锅的可见位置关系符合入锅判据，首次成立时间约有 0.2 s 不确定性；没有状态日志可直接测量 0.07 米水平中心距。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.5–16.0 s 单臂二指夹爪夹住虾，将其从白盘搬到平底锅后张开。"
+     }
+    ]
+   },
+   "syrup_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–30.3 s 机器人空手转向左上方柜体附近，反复抬臂、转腕和调整底盘；未见夹爪带出糖浆瓶，也未见将其降到白盘所在台面的搬运或放置动作。"
+     },
+     {
+      "t": 30.3,
+      "log_step": 411,
+      "text_zh": "推断：视频 0–30.3 s 连续操作只显示虾的搬运，后续持续停在柜体取物准备且没有持糖浆瓶返回台面的动作，因此此节点未成立；agent 在 log step 411 自述柜门未打开、两件食材未移动，与上述操作序列一致，仅作旁证。柜内与部分左侧台面在画外，结论来自前后动作链而非直接看清柜内原位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17–30.3 s 机器人为取柜内两件食材共同调整柜前姿态；夹爪和柜门接触区域多在左侧画外，不能确认针对糖浆瓶的接触方式，未观察到夹持该食材。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23–30.3 s 取柜内食材的共同准备期间，底盘调整位置和朝向，支承机械臂；视频 30.3 s 视角明显转动。"
+     }
+    ]
+   },
+   "broccoli_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–30.3 s 机器人空手转向左上方柜体附近，反复抬臂、转腕和调整底盘；未见夹爪带出西兰花，也未见将其降到白盘所在台面的搬运或放置动作。"
+     },
+     {
+      "t": 30.3,
+      "log_step": 411,
+      "text_zh": "推断：视频 0–30.3 s 连续操作只显示虾的搬运，后续持续停在柜体取物准备且没有持西兰花返回台面的动作，因此此节点未成立；agent 在 log step 411 自述柜门未打开、两件食材未移动，与上述操作序列一致，仅作旁证。柜内与部分左侧台面在画外，结论来自前后动作链而非直接看清柜内原位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17–30.3 s 机器人为取柜内两件食材共同调整柜前姿态；夹爪和柜门接触区域多在左侧画外，不能确认针对西兰花的接触方式，未观察到夹持该食材。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23–30.3 s 取柜内食材的共同准备期间，底盘调整位置和朝向，支承机械臂；视频 30.3 s 视角明显转动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shrimp_pan_horizontal_center_distance",
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_shrimp_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_syrup_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "gripper_broccoli_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 22.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17–30.3 s 机器人空手朝左上方柜体抬臂、转腕并调整位置，未见糖浆瓶或西兰花被带出；视频约 22 s 仅为这一持续调整片段的导航锚点。观察：独立的 agent 日志中，log step 308 自述准备接近把手、合爪并拉门，log step 312、390–391、403–404 的脚本输出记录柜门把手接近尝试，log step 411 自述柜门未打开且两件食材均未移动；这些 log step 与视频时间的对应未建立，不能把 log step 308 视为视频 22 s 的同一时刻。推断：失败位于两件食材共用的柜前准备过程，未见后续搬放或修复；视频不能辨认先取哪件，日志也未明确选定其中一件，并非两个节点接连各被尝试。DAG 中两者没有先后边，故无法根据列表顺序唯一绑定，ref 保留 unknown。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的柜门接近控制未能完成有效取物准备。其脚本在 log step 318 自报接近目标的位置误差约 0.135 米，log step 390–391 重试后仍约 0.061 米，log step 403–404 最后一次接近仍约 0.079 米；agent 在 log step 329、380 分别自述夹爪在把手旁闭合。视频 20–30.3 s 的机械臂持续局部调整且没有取物搬放，与控制未收敛的日志相符；这些脚本误差是根因旁证，不能直接证明实际接触或关节限位，故不细分控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "柜门把手、夹爪和柜内食材多处于录像左侧画外，没有状态日志或接触传感记录；无法区分空夹、碰撞阻挡或其他具体失败现象，故现象层留空。两件食材上台面为结合连续动作链的推断，非直接看清柜内原位；共同柜前准备也不能唯一指向糖浆瓶或西兰花节点。评分器只给整体失败，未报告四项原生距离指标；未将控制步数或 agent 时间换算成视频时间。",
+  "unmet": {
+   "shrimp_in_pan": true,
+   "syrup_on_counter": false,
+   "broccoli_on_counter": false
+  }
+ },
+ "summary_zh": "观察：视频约 16.0 s 机器人将虾从白盘搬入锅中央，直到视频 30.3 s 仍保留，完成 1/3 个节点。推断：后续柜前准备未转成糖浆瓶或西兰花的取出、放置，两个台面节点均未成立；日志支持控制未能完成柜门接近，但共同准备不能唯一绑定其中一个节点。观察：柜门与夹爪接触区大多在画外，缺少状态日志，具体失败现象及精确距离无法核实；断点归属的重大分歧仍不能由现有证据彻底排除，故 conf 从 6 降至 5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "虾入锅节点（视频约16.0 s，14.0–15.0 s夹爪持虾、16.0 s虾已在锅中）与两个台面节点未成立均与视频相符；问题在断点 ref 取 unknown 过于保守，以及把 log step 与视频时间并列造成时钟暗示。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "虾入锅（视频约 16 s）成立、糖浆瓶与西兰花两个台面节点未成立，均与视频一致；视频 17–30.3 s 只见空手在柜前调整，无物体带出。断点 ref 保持 unknown：两节点 after 均为空，共同的柜门准备不能唯一绑定其中之一，第 1 轮已用证据回应，不再重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:21:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--y9zvasc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--y9zvasc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--y9zvasc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-assemble-cooking-array-i00-standard--y9zvasc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "71f534f58e9d725bb8678c921ac14f454a3640f49daa05c87a80bf0082be9048",
+   "video_sha256": "afc0f07a604ffb3c80ee7ebf6bb3e642c6a80a9987dc6331209f740a209bf2d4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd.json

@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--cmfedkd",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2874,
+   "sim_steps": 5748,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 194.08,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.323,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.837,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd/replay.mp4",
+  "duration_s": 32.1,
+  "fps": 10.0,
+  "frames": 321,
+  "sha256": "62ed51f6454781f8c4eb699083ef4ff8ceb90eca6880d53a90db5966b334e8a9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门贴合；视频约 2.0 s 右门开始离开柜框，视频 3.0–4.0 s 门板继续外摆，视频 4.0 s 已明显向外转开，门的内侧边缘与柜框分离。视频 5.0–8.0 s 开口继续扩大，随后机器人把末端伸入柜内；视频 15.0 s 可见柜内碗和开放空间。推断：依据门板与柜框的分离程度，首次形成可取物开口约在视频 4.0 s，无需等到机器人松开把手或伸入柜内；腕部遮挡了部分开口，时间存在约半秒视觉判断误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2.0–7.5 s Panda 二指夹爪夹在右门把手处并随把手向外转动；之后转到左门把手继续拉开左门。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频 19.5–20.8 s 红色麦片盒仍竖在上柜搁板，机器人末端在相邻碗和门板附近移动；视频 27.0–29.5 s 麦片盒仍在同一层柜内，下方牛奶所在白色台面没有麦片盒。视频 31.1–32.0 s 末帧检查也没有显示麦片到达台面。"
+     },
+     {
+      "t": null,
+      "log_step": 339,
+      "text_zh": "观察：log step 339 的最终一次 gen.py 执行输出记录了从物品右侧横移的命令，麦片位置仍为 [2.0228,-0.9474,1.4924]；log step 342–343 确认保存的是 2874 个动作、meta 为 finished 的文件。这些日志用于辨认本次取物尝试，不把脚本目标当作已完成搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 15.0–20.8 s 机器人末端在碗和左门之间横移并拨动门板，随后空手退出。推断：结合 log step 339 的横向扫动命令，这是取出碗与麦片的共同尝试；没有可确认的夹爪对麦片盒的抓握或搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.8–27.0 s 相机与机械臂相对台面横向改变位置，移动底盘支承机械臂调整取物位置；过程中未携带麦片。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–20.8 s 机器人末端在浅灰碗左侧、门板边缘附近反复调整，碗持续留在上柜搁板，没有随夹爪离柜。视频 26.8–29.5 s 再次露出的碗已倾斜，但仍在柜内；下方台面始终未出现碗。视频 31.1–32.0 s 也未见碗移至台面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 14.0–20.8 s Panda 末端从碗旁横移、接近碗沿并拨动相邻门板；视频 26.8 s 碗在柜内倾斜。推断：末端曾碰推碗或碗沿，未形成可见的对向夹持，不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.8–27.0 s 机器人底盘移动，支承机械臂重新调整柜口取物位置；没有把碗带出台面上方。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.5 s 双门外观看起来贴合柜框，按视觉闭合判据从开局记为成立；视频约 2.0 s 右门开始明显离开柜框，闭合状态失去。无关节状态，不能从视频精确测量 0.005 归一化阈值。"
+     },
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–26.6 s 左门虽回摆到近闭合位置，右门仍向外打开；视频 27.0–32.0 s 机器人在柜前做末段回关动作，但最后双门仍未全部贴合，故没有恢复闭合区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 27.0–32.0 s 机器人夹爪向右侧门板和把手区域移动，之后沿柜前向中部运动。推断：结合 log step 306、314 所示回关程序及 log step 346 末态报告，这是回关尝试；单一视角中把手局部被遮挡，无法确认本次是否夹住把手或只是擦过门板。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_on_counter",
+   "t": 15.0,
+   "log_step": 339,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.0–20.8 s 机器人末端在碗所在右侧柜内横移时紧邻左门边缘，门板随机械臂接触摆动，末端长时间滞留而碗仍在搁板；视频 26.8–29.5 s 碗依然留在柜内。推断：最早未修复的是从碗一侧取物并移到台面的尝试，后续空手退出、回关柜门都未完成该步；麦片也未被取出。log step 339 的横移执行输出与这一取物阶段相符，但未把 agent 时间换算为视频时间。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 15.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.0–20.8 s 机器人末端和腕部在碗旁与左门边缘挤在一起，手臂横移时门板被拨动，末端没有顺畅通过，碗始终留在搁板。视频 21.0 s 机器人退出时左门明显被带回，随后继续在门边调整；没有看到碗被成功夹起后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 339 记录最终生成脚本在物品侧方执行横移，目标 [1.9,-1.24,1.5]，执行 200 次后末端停在约 [1.985,-0.814,1.497]，残差约 0.435 m，仍继续后续流程；视频 14.0–20.8 s 对应可见取物阶段表现为末端在门与碗旁滞留、碰动门板而未把碗带出。推断：取物动作执行未能通过柜口并建立有效搬运，属于控制失败；现有证据不足以区分接触几何、逆解和反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；单一正面视角中门板和腕部遮挡部分指尖，无法确认碗沿的精确接触对，以及末段回关是否曾夹住把手。最终脚本修改在日志中仅显示为 edit 占位文本，故未重建完整控制器，也不把早期会话试验或控制步数映射成视频时间；门闭合的 0.005 阈值和原生开度数值没有评分字段可读。"
+ },
+ "summary_zh": "机器人完成开柜，开局成立的关柜状态随后失去；麦片和碗均未到达牛奶所在台面，终态为 1/4。最早未修复的失败在碗一侧的取物阶段：末端在柜门与碗附近受阻并碰动门板，未能把物品带出，后续回关也未恢复全部闭合。无状态日志，局部接触及精确门开度无法核实，控制根因不再细分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "cabinet_opened 的达成时间标得过晚（7.5 s），视频约 4 s 时门已明显打开、能露出柜内空间；其余节点（麦片/碗未到台面、终态 1/4）与帧一致。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值与帧一致：开柜约 4 s 达成，麦片和碗全程留在上柜搁板，关柜开局成立、约 2 s 失去且未恢复，终态 1/4。断点（碗一侧取物）、被挡/碰撞现象和控制根因有视频与 log step 339 支持，且已按 03 对子类保持保守。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:24:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "489f6140c3635728185979aab9f0b269966e96c0926c3c74e01ac5c7f1759c8b",
+   "video_sha256": "62ed51f6454781f8c4eb699083ef4ff8ceb90eca6880d53a90db5966b334e8a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e.json

@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--czkpd2e",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1251,
+   "sim_steps": 2502,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 149.06,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.436,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e/replay.mp4",
+  "duration_s": 31.4,
+  "fps": 10.0,
+  "frames": 314,
+  "sha256": "6b87c3bf8421efc327a83e472f35e0c97515f1fb51f760943d65b56c6b0ab476"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门贴合；视频 2.2–2.8 s 机器人夹爪拉动左门，约视频 2.7 s 已露出麦片盒、碗和足够取物的柜内开口，视频 7.0 s 两门均已转开。开门时刻为视觉近似。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.6–3.0 s Panda 二指夹爪合在左门把手处，带动左门沿铰链向外转开；视频 5.0–7.0 s 随后操作右门把手并拉开右门。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.8 s 机器人夹爪夹住红色麦片盒，将其从上柜搁板拉出；原来的柜内位置随后只剩碗。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.6–14.7 s 机器人持盒下移至牛奶所在的白色台面并松爪，约视频 14.5 s 盒子底部落到台面，接触时刻约有 0.4 s 误差；视频 25.0 s 及视频 30.4–31.3 s 麦片盒独立立在台面上，未再被移走。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.0–14.7 s Panda 二指夹爪夹持红色麦片盒，取出、下降并在目标台面松开。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.8,
+      "log_step": null,
+      "text_zh": "观察：视频 17.4–19.8 s 机器人将夹爪伸到碗沿附近并作闭合、向外撤移动作，碗仍在上柜原来的搁板位置，没有随夹爪被带出。"
+     },
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "观察：视频 22.2–22.8 s 机器人再次把手指伸到碗口前部后撤回，视频 23.0–26.4 s 碗仍在柜内，夹爪随后下降时没有携碗。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–31.3 s 左门挡住部分柜内空间，但可从门旁开口持续看到浅灰色碗留在搁板上，白色目标台面上只有麦片盒、牛奶盒等原有物件，没有碗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17.4–19.8 s、视频 22.2–22.8 s 机器人 Panda 夹爪确实在碗沿和碗口附近操作；局部受腕部遮挡且分辨率低，无法确定是否发生轻触、擦碰或短暂夹沿，不将闭爪动作直接记为实际抓握。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.1 s 两扇深蓝色柜门均贴合柜框；视频 2.2 s 左门开始离开柜框，视频 2.4 s 已出现开口，初始关闭区间的结束时刻约有 0.2 s 误差。"
+     },
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.4–28.0 s 机器人夹爪顶推左门，左门转回柜框附近；右门仍向外敞开，不能恢复所有柜门关闭。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–31.3 s 机器人又在右门附近操作，右门摆动后仍明显敞开，末帧能看到柜内的碗；故关闭节点最终为假，不依赖评分总值推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 26.4–28.0 s Panda 闭合的夹爪顶住左门板/门边，向柜框方向推动；视频 29.8–31.0 s 随后在右门边施推使其摆动，未见夹爪包夹把手随门运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_on_counter",
+   "t": 19.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.4–19.8 s 机器人开始取碗，夹爪撤移时碗仍留在上柜搁板；视频 22.2–23.0 s 再次取碗仍未带出，之后空手下降并改做关门，直到视频 31.3 s 碗仍未上台面。这是麦片放置成功后首个尝试而始终未完成的步骤，后来的右门未关好也未修复它。"
+  },
+  "unmet": {
+   "cereal_on_counter": true,
+   "bowl_on_counter": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 19.8,
+    "log_step": null,
+    "evidence_zh": "推断：视频 17.4–19.8 s 和视频 22.2–23.0 s，机器人夹爪在碗沿附近闭合、撤回，碗始终由原搁板支承，未随夹爪平移或抬起，随后夹爪空手下降；所需的可携碗抓持没有建立。此标签指搬运所需的接触，不能据此排除指尖曾轻触碗。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 17.4–23.0 s 机器人已将夹爪送到正确的碗口区域，却连续未形成能带动碗的抓持，仍执行空手外移、下降动作；日志中 agent 的取碗程序也依次执行接近碗沿、闭爪、抬升和搬运，只在搬运后检查碗是否接触台面（log step 151）。证据支持取碗的接触/执行控制失败；日志程序属于会话证据，不能据此确定交付录像采用哪次修改，也不足以区分接触几何、逆解跟踪或夹持力子因。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对/夹持力记录；视频腕部遮挡与分辨率限制使取碗时的轻触方式不可确定，故该节点实际接触标为未知，控制根因保留上位类。柜门关闭阈值 0.005 不能用视频精测，初始关闭及其离开时刻为视觉近似，末尾右门明显敞开则可明确判假；原生开度指标未报告。日志有多次独立测试，末条 agent 仅称等待生成程序结束（log step 163），没有最终文件版本的明确完成通知；节点和断点全部以评分视频为准，未把会话测试位置或时间映射为视频事实。"
+ },
+ "summary_zh": "评分轨迹完成开柜和麦片放到台面，最终为 2/4 节点；碗始终留在上柜，机器人随后关门也未使右门闭合。首个未修复断点是取放碗时未建立可搬运抓持，证据支持控制层失败；没有状态日志，具体轻触方式、控制子因及柜门的精确归一化开度无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（碗取放，没建立接触）与控制根因均与视频一致；碗全程留在上柜搁板，右门末帧仍敞开，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:20:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "af5f8b89ee3623d6a36e2ede43f9a15d6170cb28242e628672b6924087b6b11a",
+   "video_sha256": "6b87c3bf8421efc327a83e472f35e0c97515f1fb51f760943d65b56c6b0ab476",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt.json

@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--eic5fbt",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 632,
+   "sim_steps": 1264,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 135.12,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.655,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.271,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/replay.mp4",
+  "duration_s": 31.7,
+  "fps": 10.0,
+  "frames": 317,
+  "sha256": "1fca152b1e8b3c05f1a2f138861953db45681aa6f350f81009ba6b6f897a174b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5–10.5 s，机器人夹爪在左门把手下端附近逐渐横移，双门仍遮住柜内；逐帧核对视频 10.8–13.2 s，视频约 11.4–11.6 s 的变化伴随微波炉、灶台与机械臂整体移位，属于视角突变，未见左门外转或门缝张开。视频 0–31.6 s 的全片检查均未见门张开。"
+     },
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "推断：本次全程未出现可取出麦片与碗的柜内开口，打开橱柜从未完成。成功参考录像 inputs/oracle/replay.mp4 的视频约 4–8 s 清楚显示门板外转和柜内红盒、浅灰碗，仅用于核对可见外观，不用于给本次计进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：机器人 Panda 夹爪在视频 2.5–12.3 s 操作左门把手附近，全程未见门张开；腕部遮住把手下端与指腹，无法确认实际是夹持、勾拉还是擦碰，不能记为已建立抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–0.8 s 机器人底盘退移并支承机械臂，随后机械臂接近上柜把手。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 20–27 s 机器人在上柜前及台面上方运动，夹爪没有携带红色麦片盒；视频 27–31.6 s 目标台面始终未出现红盒。"
+     },
+     {
+      "t": 31.6,
+      "log_step": 603,
+      "text_zh": "推断：全片未见麦片盒离柜或到达台面，且上柜从未出现足够取物的开口，麦片放到台面从未完成。log step 576、600 中的搬运代码及 log step 603 的总结不能代替可见物体转移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 20–27 s 机器人执行上柜前接近与台面上方移动，麦片盒始终被柜门遮住；无法确认对盒子的实际接触，未见盒子被夹持带出。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13–20 s 机器人夹爪在仍关闭的上柜前转向、下移，没有碗随夹爪离柜；视频 24–31.6 s 台面可见区域中也没有成功参考所示的浅灰色碗。"
+     },
+     {
+      "t": 19.5,
+      "log_step": 600,
+      "text_zh": "推断：结合全片始终没有可取物的开口及夹爪空载下移，碗未被放到牛奶所在台面；不是由 success=0 单独推定。log step 576、600 的取碗代码仅表明该动作序列被安排，不作为抓取成功证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 13–20 s 机器人在上柜前执行接近、夹爪转向与下移动作；碗被门板完全挡住，无法确认夹爪是否碰到碗，未见碗被带出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 12.5–13.5 s 视角随机器人底盘前移，支承机械臂转入取碗动作；对应 log step 576 取碗前的底盘前进代码。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–31.6 s 的全片检查中，上柜双门持续呈贴合柜框的外观，未见门板向外张开或露出柜内空间。"
+     },
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧核对视频 10.8–13.2 s，视频约 11.4–11.6 s 微波炉、灶台和机械臂随视角整体移位，双门仍贴合，不能据此中断关闭区间；末秒视频 30.7–31.6 s 亦未见门张开。"
+     },
+     {
+      "t": 31.6,
+      "log_step": null,
+      "text_zh": "推断：按 DAG 的录像判据，关闭状态在末尾成立；没有状态日志或评分器逐门开度，不能由画面独立证明每个关节均精确不大于 0.005。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 27–31.6 s 机器人末端在上柜下方作前后运动；log step 576、600 将此段安排为推门，但画面未能确认夹爪实际接触柜门，不能照脚本写成推门接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 11.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.5–10.5 s 机器人在左门把手前持续运动；视频 10.8–13.2 s 未见柜门张开，视频约 11.4–11.6 s 为视角整体突变，之后直至视频 31.6 s 也未形成柜内开口。推断：开柜是第一个开始操作却始终未修复的步骤，后续空载运动没有完成该步骤；视频 11.7 s 仅作为此次开门尝试的定位锚点。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "evidence_zh": "观察：inputs/run.json 的 log step 577、584 启动生成脚本，log step 583 修正保存调用，log step 588 确认轨迹文件存在；log step 600 所示生成脚本包含 s.check()，但日志未读取其输出。log step 589 启动读取该文件并执行 s.replay 的后台任务；log step 593 仍报 RUNNING，输出仅有 Actions shape: (632, 13)，没有 Replay result。随后 log step 598 只核对数组形状、NaN 和数值范围；log step 601 仅称没有后台任务运行，没有返回回放结果；log step 602 显示预算尚余 239.9 秒，agent 即在 log step 603 自述回放已验证并结束。评分器字段 deterministic=1、replay_success=0、invalid_trajectory=0，评分视频全程未见柜门打开。推断：agent 没有读取交付轨迹的任务验收或回放结果便确认交付，属于验收操作出错（docs/TAXONOMY_v2.md §3，DECISIONS.md N10）；这使未完成开柜的轨迹未经有效核验便被保留。已启动回放，不能据缺少结果断言回放从未执行；此根因解释交付验收遗漏，不确定具体接触或控制机制。",
+    "source_zh": "日志 / 评分器字段 / 视频",
+    "log_step": 589
+   }
+  ],
+  "gap_zh": "观察：inputs 中没有状态日志；视频为单一 320×240 视角，操作左门时腕部遮住把手下端和指腹，不能可靠区分从未夹牢、夹住后滑脱或局部受阻，因此失败现象层留空。视频全程未见门张开，视频约 11.4–11.6 s 为视角整体突变，不作为关闭状态中断。麦片和碗被柜门遮挡，实际目标接触未知，但应出现的离柜与到台面外观始终不存在，可判节点未完成。关闭区间按可见贴合外观近似，缺少逐门归一化开度，原生开度指标未在评分器字段报告；log step 576 的开门代码中段亦被原始日志截断。推断：log step 589、593、598、601、603 支持交付验收遗漏，但后台回放已启动且结束原因未记录，不能写成从未执行回放，也不能证明生成时的 s.check() 未执行；DECISIONS.md N10 的交付问题按验收操作出错记录。移除仅依赖会话测试旁证的控制根因，具体物理机制仍无法确定，保留 conf=6。"
+ },
+ "summary_zh": "评分轨迹未完成打开橱柜、麦片放到台面或碗放到台面；双门全程呈闭合外观，进度始终为 1/4，断点仍是打开橱柜。根因为交付操作出错：log step 589 启动回放后，agent 没有读取回放或任务检查结果，log step 603 即声称已验证并结束；该记录支持验收遗漏，不能证明回放从未执行。无状态日志且把手接触区被腕部遮挡，无法确定具体接触或控制机制，也无法精确确认 0.005 闭合阈值，故保留 conf=6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "总体结论（未完成开柜、麦片/碗未到台面、末态关柜、断点在开柜）与视频一致；但 cabinet_closed 在 11.5–12.5 s 的“左门短暂外转”中断区间，我逐帧只看到相机/底盘视角突变，未见门张开，该中断与相应进度下降缺乏证据。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（进度 1/4、cabinet_closed [0,null]、断点在开柜）与视频一致；但根因缺失：交付的 632 步轨迹由 gen.py 一次生成后，agent 启动了 replay 校验（log step 589）却从未读到结果（593 只有动作形状，之后无 replay 结果）就结束，符合 N10 的『交付操作出错』，而现有『控制』根因只靠会话测试旁证。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已正确落实：唯一根因改为交付／交付操作出错，证据限定为未读取回放结果，gap_zh 与 summary_zh 同步，未越界断言。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已正确落实：唯一根因改为交付／交付操作出错，证据限定为未读取回放结果，gap_zh 与 summary_zh 同步，未越界断言。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:27:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1b942a0d7be00a8c8187f007621f964820948e847dbde5acfdf92305e1cc9b23",
+   "video_sha256": "1fca152b1e8b3c05f1a2f138861953db45681aa6f350f81009ba6b6f897a174b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--joxhqdc",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2340,
+   "sim_steps": 4680,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 281.59,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.129,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc/replay.mp4",
+  "duration_s": 33.6,
+  "fps": 10.0,
+  "frames": 336,
+  "sha256": "de1d58f1d03f3d6740c6d1eb9db71d0abe51d59c84df3e7d7a86845274ea44d0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5–10.0 s，机器人二指夹爪在左门把手处反复合拢、退回和再接近，左门板始终贴合柜体。"
+     },
+     {
+      "t": 12.0,
+      "log_step": 59,
+      "text_zh": "观察：视频 11.4–19.6 s，机器人夹爪带动右门小幅向外转动，但未露出可取出麦片与碗的柜内空间；随后门重新关闭。log step 59 读取最终交付运行 run11 的输出，左门各段关节角仅约 0.002–0.003 rad，右门各段约 0.279–0.346 rad；这些日志角度用于佐证，不换算视频时间。"
+     },
+     {
+      "t": 19.6,
+      "log_step": null,
+      "text_zh": "推断：对照成功参考视频约 4–8 s 中左门明显向外展开、红色麦片盒及浅灰碗完整露出的外观，本次全片没有达到 DAG 所要求的可取物开口；小幅开缝不计完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.4–12.5 s，Panda 二指夹爪在右柜门竖直把手两侧合拢并带动门板转动；视频 0.5–10.0 s 还反复尝试夹左把手，未使左门展开。视频 11.4–12.5 s 底盘未见明显移动；此判断仅限该时段。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": 59,
+      "text_zh": "观察：视频约 19.8–23.5 s，机器人向上柜伸爪后空手下降，夹爪内未见红色麦片盒，牛奶所在白色台面也未出现麦片盒；log step 59 的最终交付运行输出同时显示抓取后麦片仍在原坐标 [2.0228, -0.9474, 1.4924]。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 58,
+      "text_zh": "观察：视频 23.5–33.5 s，台面持续可见且未出现红色麦片盒。log step 58 保存的最终运行共 2340 条动作，末态麦片仍在柜内原坐标，评分器 n_actions 同为 2340；不采用早前测试的结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 19.8–23.5 s，机器人夹爪朝关闭的上柜伸出后空手下降，未见麦片盒被夹住；门板遮住夹爪与麦片盒的潜在接触区域，无法确认接触对。推门接触记在 cabinet_closed。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：对比视频 19.5、22.0、23.5 s，灶台、柜体等固定背景相对画面下方机械臂基座发生位移，支持麦片取放尝试期间底盘移动并支承机械臂；未见携带麦片盒。没有底盘或躯干位姿日志，无法精确分离底盘平移、转动与躯干升降的贡献。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.5,
+      "log_step": 58,
+      "text_zh": "观察：视频约 25.5–29.5 s，机器人再次向关闭的上柜伸爪，随后在视频 30.0–32.0 s 空手降至台面附近；夹爪和台面上均没有浅灰色碗。log step 58 的最终交付运行输出显示碗在抓取、抬升及放置后仍位于 [1.934, -0.8198, 1.4667]。"
+     },
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 32.5–33.5 s 逐帧检查，台面上仍只有原有蓝色牛奶盒及小包装物等，未出现参考视频约 28–32 s 中清晰可见的浅灰碗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 25.5–29.5 s，机器人在关闭的柜门前执行伸爪动作，随后空手下降；柜门遮住碗与指尖的潜在接触区域，无法确认夹爪是否具体碰到门板或碗，不能据脚本的夹爪闭合指令标为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：对比视频 25.0、28.0、31.0 s，灶台边缘、牛奶盒及柜体相对机械臂基座的位置明显改变，支持碗取放尝试期间底盘移动并支承机械臂；未见携带碗。没有底盘或躯干位姿日志，不能精确分离各自由度的运动，也不认定视频 19.6–33.3 s 全段持续移动。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      11.4
+     ],
+     [
+      19.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门均贴合柜框；视频 0.5–11.3 s 的夹爪动作未造成可见开口，故关闭状态从开局计入。"
+     },
+     {
+      "t": 11.4,
+      "log_step": null,
+      "text_zh": "观察：视频 11.4–19.6 s 右门明显偏离柜框，关闭状态失去；视频 19.7–19.8 s 右门回到柜框，随后视频 20.0–33.5 s 双门保持贴合。区间边界取视觉约值，误差约 0.5 s。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 58,
+      "text_zh": "观察：视频 32.5–33.5 s 逐帧可见双门保持贴合；log step 58 的最终交付运行输出显示末态左右门角为 0.0，且末尾显式关门阶段因门已经关闭而立即退出。精确的归一化 0.005 阈值不能由低分辨率视频独立量出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频约 19.6–19.8 s，机器人夹爪向上柜伸入时，右门同步回到闭合位置，支持夹爪推门的接触判断；没有状态接触对佐证。视频约 32.5–33.5 s 夹爪又靠近已关闭的把手区域，未见新的开合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 3.0,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.0 s 首轮左把手夹合、退回后，左门仍未展开；机器人在视频 0.5–10.0 s 重复操作左把手，随后视频 11.4–19.6 s 只让右门小幅转开，没有形成可取出麦片和碗的柜内开口。直到视频 33.5 s 结束都未修复这一步；两件物品均未到台面。log step 59 为最终交付运行 run11 的开门输出，不能用早前测试的较大开度替代。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 3.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 0.5–10.0 s，机器人夹爪在左把手处合拢并反复施加开门动作，左门没有产生所需的向外转动；视频 11.4–19.6 s 右门虽被带动，但开度不足以露出可取物的柜内空间。log step 59 的最终运行左门角仅约 0.002–0.003 rad，右门约 0.279–0.346 rad。此处记录施力操作未实现所需开门运动，不由手指读数推定曾抓牢又滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 3.0,
+    "log_step": 53,
+    "source_zh": "日志",
+    "note_zh": "开门控制方向的符号重复计算；不将 agent 对左爪未夹牢的猜测作为已证实根因。",
+    "evidence_zh": "推断：log step 40 的 door_frame 已令 t = sgn × cross(z,w)，其中左门 sgn=-1；log step 53 写入后续沿用的 door_open 又使用 p_t = hpos + 0.006 × sgn × t，使左右门都沿 +cross(z,w) 运动，左门所需的负向开门方向被抵消。log steps 54、57、58 只调整夹取容差、停顿和偏移，没有修正该方向。对照 log step 45 的独立测试，脚本用 -cross(z,w) 拉左把手时服务测得左门到约 -0.319 rad；这只是控制方向的会话佐证，不计作本次节点进度。视频 0.5–10.0 s 左门不展开及 log step 59 的近零角度与该控制错误一致。"
+   }
+  ],
+  "gap_zh": "没有状态日志；320×240 正面视频中的柜内物体和部分指垫接触被门板或夹爪遮住，不能确定每次夹合的接触对，也不能把门角或接触力连续量化。关闭区间按门板贴合视觉判定，边界约有 0.5 s 误差，无法独立验证归一化 0.005 阈值；评分器只报总成功与回放信息，未报告 cabinet_door_open_fraction，故该指标为 null���视频时间均取已检查帧，不从日志中的脚本耗时或 control_steps 换算。 视频后半段固定背景相对机械臂基座的位移支持底盘移动的推断；缺少底盘、躯干及相机位姿记录，无法精确分离底盘平移、转动和躯干升降，不能将视频 19.6–33.3 s 整段都断言为持续移动。"
+ },
+ "summary_zh": "本次交付最终仅“关上橱柜”成立（1/4，开局也为 1/4）：左门未展开，右门仅小幅打开，麦片与碗均未到台面。首个未修复断点是打开橱柜，日志可追溯到左门开门方向的重复符号计算错误；机器人随后空手执行取放，双门约在视频 19.8 s 恢复贴合并保持到结束。无状态日志，细小指垫接触及柜门精确闭合阈值无法由视频独立确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签基本成立：视频 0–11.4 s 双门贴合，11.4–19.7 s 右门小幅转开，19.7 s 后双门贴合；log run11 的左门 0.002–0.003 rad、右门 0.279–0.346 rad 与此相符，断点 cabinet_opened 与根因（左门开门方向符号重复）有日志支持。只有 contact_actual 两处需要修正：cereal_on_counter 的接触写成了推门，视频 19.6 s 之后底盘/视角明显移动却未记录。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮复核：断点 cabinet_opened、cabinet_closed 区间（0–11.4 s、19.8 s 起）、两个取放节点未达成、接触标注均与视频及 log step 54/57/58/59（左门 0.002–0.003 rad、右门 0.279–0.346 rad、麦片和碗坐标未变）相符；现象“接触力异常”符合“门没开到位”的定义；根因“控制”由 step 40/53 代码与 step 45 对照测试支持，已标为推断。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:24:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e28e66220bb2f6eac230fe05efce813a6199016ac9b5d00b9c72e958176779b1",
+   "video_sha256": "de1d58f1d03f3d6740c6d1eb9db71d0abe51d59c84df3e7d7a86845274ea44d0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1043,
+   "sim_steps": 2086,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 150.68,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 9.031,
+   "peak_processes": 30,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m/replay.mp4",
+  "duration_s": 34.9,
+  "fps": 10.0,
+  "frames": 349,
+  "sha256": "9b3fb6e9b524733c45876ac6992c91d3890039d9c9313423517c2c69dce78d49"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两扇上柜门关闭；视频 2.6–3.2 s，机器人夹爪带着左门把手向外运动，左门转开，视频 3.2–4.0 s 可见柜内红色麦片盒与浅灰色碗及可供取物的开口。首次达到取物开口记为视频约 3.2 s，误差约 0.3 s；后来关门不撤销此事件。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 41,
+      "text_zh": "推断：视频 2.0–4.0 s 夹爪与左门把手共同沿铰链圆弧运动，结合 log step 41 采用的开门程序先合拢夹爪再拉门，实际接触为二指夹爪抓握把手；不是仅把夹爪伸到把手附近。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住左柜门把手，向外沿铰链圆弧拉开左门。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–8.8 s 机器人夹爪伸入打开的左侧柜口并夹住红色麦片盒；视频 9.2–10.0 s 麦片盒随夹爪离开柜内原位置，保持直立悬在台面上方。视频 9.8–10.6 s 视点随移动底盘后退，机器人仍携带麦片盒。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "推断：视频 11.0–12.0 s 机器人将麦片盒下降至白色目标台面；视频 12.0–12.8 s 盒子位置保持，夹爪松开并撤退，随后视频 13.0–14.0 s 明确可见盒子独立直立于台面。盒底的首次接触被夹爪局部遮挡，结合下降停止及撤手后位置连续，首次接触估计为视频 12.0 s，误差约 0.5 s。"
+     },
+     {
+      "t": 34.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–34.8 s 抽查帧及视频 33.8–34.8 s 逐帧显示麦片盒一直留在牛奶盒所在白色台面，没有再被提起；评分器 reward.replay_success=1、final_reward=1.0 支持台面接触终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住红色麦片盒，从上柜取出并下降到白色台面，随后松开撤手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘在携带麦片盒时后退，支承机械臂完成向台面的搬运。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频 15.2–20.8 s 机器人夹爪在柜内接触碗沿，先把碗横移、再调整抓持位置；视频 21.2–23.0 s 碗随夹爪从上柜向外移出，原来柜内放碗处空出。视频 23.0–24.0 s 机器人保持夹持碗，移动底盘后退。"
+     },
+     {
+      "t": 25.8,
+      "log_step": null,
+      "text_zh": "推断：视频 24.8–25.8 s 机器人抓着碗沿将碗下降到牛奶前方白色台面，视频 25.8–26.2 s 碗停止下降，随后夹爪撤离；视频 28.0–30.0 s 碗独立留在台面且碗口朝上。结合连续下降与释放后的落点，首次接触估计为视频 25.8 s，误差约 0.5 s，局部碗底被手腕遮挡。"
+     },
+     {
+      "t": 34.8,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–34.8 s 碗持续留在白色台面，视频 33.8–34.8 s 逐帧未见再次提起；评分器 reward.replay_success=1、final_reward=1.0 支持碗接触目标台面的终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住碗沿，先在柜内横移并重新夹持，再搬出、下降到目标台面并释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "移动底盘携带夹持中的碗后退，支承机械臂将碗搬向台面。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.5
+     ],
+     [
+      32.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.4 s 上柜双门贴合柜框；视频 2.6 s 左门已开始向外转开，视频 3.2–31.6 s 左门存在明显开口。初始关闭区间结束估计为视频 2.5 s，误差约 0.2 s。"
+     },
+     {
+      "t": 32.4,
+      "log_step": null,
+      "text_zh": "观察：视频 26.8–27.2 s 机器人移动底盘回到柜前；视频 30.6–31.4 s 夹爪在左门把手处，视频 31.6–32.4 s 左门随夹爪向柜框收回。视频 32.4–34.8 s 左门与柜框贴合，右门始终关闭；恢复关闭时间记为视频约 32.4 s。"
+     },
+     {
+      "t": 34.8,
+      "log_step": 42,
+      "text_zh": "推断：视频末尾双门保持贴合，且评分器 reward.success=1、replay_success=1、deterministic=1，按三项终态合取可确定所有门最终满足归一化开度不大于 0.005。视频不能精确测量该阈值的越界时刻，恢复时间误差约 0.5 s；log step 42 对已交付 1043 行动作的独立回放也返回 success=True。"
+     },
+     {
+      "t": 31.6,
+      "log_step": 41,
+      "text_zh": "推断：视频 30.6–32.4 s 夹爪与把手同步运动，结合 log step 30 的 close_by_handle 及 log step 41 对最终程序的修改，机器人实际先夹住左门把手再沿圆弧送门关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪重新夹住左门把手，沿铰链圆弧将门送回柜框，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "放碗后移动底盘向柜前靠近，支承机械臂回到左门把手的操作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人打开左侧上柜门，将麦片盒与碗依次搬到牛奶所在白色台面，并重新关好左门，四个节点最终全部成立；评分器确认交付回放成功且一致。关柜状态从视频 0.0 s 起成立，开门时失去，视频约 32.4 s 恢复。没有状态日志，物体首次接触台面的时间因夹爪遮挡估计有约 0.5 s 误差，柜门 0.005 精确闭合阈值由成功验收支持，原生开度指标没有评分器数值，记为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，四个节点终态与评分器一致；抽查视频 12–14 s 麦片盒已在白色台面、24–27 s 碗下放、30–33 s 关门，时间在约 1 s 内，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:53:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "14ea055adf1fe40943464e5901455c1bbd74e73912fe4017cdb2fc09820f1312",
+   "video_sha256": "9b3fb6e9b524733c45876ac6992c91d3890039d9c9313423517c2c69dce78d49",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-privileged--yhfsccy",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 593,
+   "sim_steps": 1186,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 85.58,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.359,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.998,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy/replay.mp4",
+  "duration_s": 29.8,
+  "fps": 10.0,
+  "frames": 298,
+  "sha256": "62c98f82842a7e615ec75907fcc93058a1efd2be3d85c3bfc38e05a23eedb503"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–4.6 s，机器人夹爪停在两扇柜门的把手附近，手腕遮挡指尖；视频 4.8–9.0 s 机械臂向下及侧方撤离，深蓝色门板仍贴合柜体，没有露出取物空间。"
+     },
+     {
+      "t": 29.7,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0–29.7 s 均未出现柜门明显外转；成功参考视频 4.0 s 的同一视角能清楚看到左门外转并露出红色麦片盒和碗，本次不具备该开门外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.4–4.6 s，Panda 夹爪在把手附近尝试开门；手腕遮住手指与把手的接触区，不能确认实际夹持、勾拉或顶压方式，因此不记为已建立抓握。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": 93,
+      "text_zh": "观察：视频 10.0–13.0 s，机器人夹爪移向仍闭合的上柜前方；视频 14.0–16.5 s 夹爪空手降到台面附近再离开，未携出红色麦片盒，目标台面没有出现该盒。log step 93 的交付生成执行输出也记录麦片位置始终为 [2.023,-0.947,1.492]。"
+     },
+     {
+      "t": 29.7,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–29.7 s 逐帧检查中，牛奶所在白色台面上没有红色麦片盒；柜门保持关闭。"
+     },
+     {
+      "t": 29.7,
+      "log_step": 93,
+      "text_zh": "推断：结合视频中没有开柜、没有持盒搬运或台面落盒，以及 log step 93 同次已保存运行中麦片位置未变，麦片放到台面从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 10.0–13.0 s，Panda 夹爪向麦片所在柜内区域伸去，但门板仍闭合；随后空手下降。未见与麦片盒接触，门前指尖接触细节无法辨清，不能把脚本的夹爪闭合命令当成抓握。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": 93,
+      "text_zh": "观察：视频 17.0–20.5 s，机器人夹爪再次伸向闭合柜门并横移、撤回；视频 21.0–22.5 s 手中没有碗，台面上也没有新增浅灰色碗。log step 93 同次已保存运行的 inside bowl、bowl dragged 和 bowl done 输出中，碗位置均为 [1.934,-0.820,1.467]。"
+     },
+     {
+      "t": 29.7,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–29.7 s 逐帧检查中，白色台面上仍无浅灰色碗。"
+     },
+     {
+      "t": 29.7,
+      "log_step": 93,
+      "text_zh": "推断：视频未见开柜或取碗搬运，且 log step 93 的交付运行读数表明碗仍在初始位置，因此碗放到台面从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17.0–20.5 s，Panda 夹爪朝碗所在上柜区域伸入并撤回，但柜门未打开，未见触到或勾住碗；指尖与柜门附近的实际接触方式不能由正面画面分辨。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两扇深蓝色上柜门均贴合柜框；视频全程未见门板向外转开。关柜状态从初始就成立，不受开柜前置节点门控。"
+     },
+     {
+      "t": 29.7,
+      "log_step": 93,
+      "text_zh": "观察：视频 28.5–29.7 s，机器人夹爪回到柜门下缘附近，双门仍贴合柜框；log step 93 同次交付生成运行的末项 door closed 输出中，左门原始关节角为 -0.000。视觉上关柜状态保持到结尾；该日志角度不是评分器报告的归一化指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 22.5–29.7 s，机器人机械臂执行返回柜门附近的动作，Panda 夹爪最后接近门板下缘；柜门此前已闭合，无法辨明夹爪末端是否压到门面或夹住把手，不把闭合终态解释为一次成功抓握关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 2.5,
+   "log_step": 93,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.4–4.6 s，机器人机械臂停在柜门把手前，没有带门向外转开；视频 4.8 s 后撤离并继续空手取放动作，直到视频 29.7 s 结束也未修复开柜失败。log step 93 保存了该次 593 控制步运行；log step 95 对该交付文件回放得到 success=False，与视频及评分器结果一致。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.5,
+    "log_step": 93,
+    "evidence_zh": "观察：视频 2.4–4.6 s，机器人末端在把手前近乎停住，未完成沿把手向外的运动；视频 4.8–6.0 s 末端转向下方并撤开，柜门没有跟随外转，始终没有可取物开口。指尖被腕部遮挡，不能进一步断言是从未夹住还是夹后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 87 的控制脚本先求目标关节姿态再限时执行，开门圆弧阶段按目标解发送动作，之后直接进入取物；log step 93 的实际生成运行多次出现规划误差为 0.0000 而执行末端误差达到 0.1411 m、0.1560 m 的情况，且视频 2.4–4.6 s 可见开门阶段机械臂停滞、柜门不动。结合 log step 100 中 agent 对该次开门执行未跟踪到目标的自述，支持末端控制未实现开门运动；缺少接触力和关节跟踪序列，暂不细分为接触设计或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对记录；正面视频中开门时的指尖、把手接触区被手腕遮挡，不能判定具体抓握或顶压方式，也不能确认碰撞阻挡的部位。柜内物体被闭合门板遮住，但没有可见取出及台面到达迹象，且同次已保存运行日志的物体位置不变，足以判定两项放置未完成。柜门 0.5% 阈值低于录像可测精度，关柜区间按门板贴合的视觉判据标注；评分器未报告归一化门开度，原生指标保留 null。控制根因只能确定到大类。"
+ },
+ "summary_zh": "本次交付始终未打开橱柜，麦片和碗均未取到目标台面；仅开局就成立的双门闭合状态保持至结束，最终节点为 1/4。断点在视频约 2.5 s 的开柜操作：末端未实现预定外拉运动，随后空手继续取放，日志支持控制执行未到位。没有状态或接触日志，指尖被遮挡，具体接触机制与柜门 0.5% 精确阈值无法从录像复核。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 0–29.7 s 双门始终贴合、麦片与碗未离柜，最终 1/4、断点 cabinet_opened 与帧和 log step 93 的物体位置/门角读数一致；接触均记未知合理，根因仅到控制大类且已声明限度。未发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:56:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a51cafea5346ca43c57df991c6437c796c489aba49d05325f497ea54957489b9",
+   "video_sha256": "62c98f82842a7e615ec75907fcc93058a1efd2be3d85c3bfc38e05a23eedb503",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--2dijlak.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--2dijlak",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 11684,
+   "n_actions": 11684,
+   "sim_steps": 11684,
+   "calls": 1828,
+   "elapsed_s": 2757.3,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.387,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.332,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--2dijlak/replay.mp4",
+  "duration_s": 30.9,
+  "fps": 10.0,
+  "frames": 309,
+  "sha256": "22bbb6bd35e3d43b67de3459913844a166d1eec450e8589985d2f2a0b42f1224"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.2,
+      "log_step": null,
+      "text_zh": "观察：视频 11.4–17.2 s，机器人将空夹爪抬到深蓝色双门中央把手附近并调整朝向；视频 18.4 s，夹爪已偏到把手右上方，未见把手被两指夹住，门板仍与柜体贴合。"
+     },
+     {
+      "t": 25.8,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–25.8 s，机器人再次靠近把手、调整并合拢夹爪；视频 26.2 s 机械臂向下移开，柜门未随夹爪转开。视频 27.0–30.8 s 的后续尝试仍未露出可取物的柜内空间。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：成功参考录像 inputs/oracle/replay.mp4 的视频约 3.0–5.0 s，左门明显向外转开，柜内红色麦片盒和浅灰色碗可见；本次录像中未出现这一开口。成功参考仅用于识别开门外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 17.0–18.4 s、22.0–25.8 s，Panda 二指夹爪在柜门把手附近反复对位、合拢和移开，但没有可确认的包夹把手；单一正面视角不能分辨指尖是否擦碰把手或门面，实际接触方式未知，不计抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 11.2–11.4 s、21.0–25.0 s 的场景相对相机位置和角度变化，结合 log step 5 与 log step 89 的服务本体读数（底盘前向/侧向/偏航从约 10.866/7.454/0 变为 10.985/7.145/−0.467），表明开柜尝试期间轮式底盘发生移动并支承机械臂。未把日志时钟换算为视频时刻。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色牛奶盒所在白色台面没有任务指定的红色麦片盒。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.8 s，机器人只在台面上方和柜门前移动空夹爪，没有红色麦片盒从柜内移出或随夹爪搬运；视频 29.8–30.8 s 的台面仍无红色麦片盒。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：柜门始终未形成取物开口，且目标台面一直没有参考录像中清楚可辨的红色麦片盒，因此该放置节点从未成立；此判断不是由总分 0 反推。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色牛奶盒所在白色台面未见任务指定的浅灰色碗。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.8 s，机器人没有从上柜取出、夹持或向台面送下浅灰色碗；视频 29.8–30.8 s 的台面也未见碗。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：目标台面没有出现成功参考录像视频约 28.0–30.0 s 中可见的浅灰色碗，且本次全程无取碗搬运，故碗接触目标台面的条件从未成立。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深蓝色上柜双门均收回柜框，中央把手并列，门板没有向外转开；按视觉判据，关闭状态从开局成立。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.8 s 的连续抽帧（每 0.2 s）中，两扇门始终保持贴合外观；视频 29.8–30.8 s 的最后一秒也没有柜内开口或门板转开，故保持同一关闭区间。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：依据全程贴合外观将关闭节点判为真；320×240 正面录像不能精确测出每扇门的归一化开度是否均不大于 0.005，评分器也未分别报告门角度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 18.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17.0–18.4 s，机器人在中央把手处调整夹爪后移到把手右上方，夹爪为空，门板没有跟随打开；视频 20.0–30.8 s 重复接近与合爪后仍未露出柜内取物空间。推断：机器人正在进行的开柜步骤始终未修复，后续麦片和碗的放置均未开始，故断点选打开橱柜，视频 18.4 s 仅作一次明显未抓住的导航锚点。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 18.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 17.0–18.4 s，夹爪在把手前移动后偏到右上方，没有把手被两指包夹并随手移动；视频 22.0–26.2 s 再次对位后空手移开，柜门仍贴合。推断：开门所需的有效把手夹持未建立；即使有指尖擦碰，也未形成能拉开柜门的接触，不是先抓住后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 81,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 81 中，agent 脚本指令末端到达 [2.140,−0.790,1.622]，服务本体读数却为 [2.350,−0.713,1.847]，脚本仍执行合爪；log step 86 的目标为 [2.148,−0.858,1.627]，实际读数 [2.272,−0.856,1.589]，合爪后手指关节位置 0.0008；log step 96 再次报告位置残差约 [−0.046,0.114,−0.018]。推断：末端控制未收敛到其已选定的把手抓取位置，仍在有明显残差时合爪，与视频 17.0–18.4 s、22.0–26.2 s 的空夹爪和柜门不动一致；据此归为控制，不把 agent 自述的精度解释当作已验证的感知错误或不可达。",
+    "note_zh": "推断：缺少完整的逐控制步目标、实际位姿和接触力记录，无法可靠区分轨迹/逆解问题、反馈跟踪问题与抓取朝向设计问题，根因保留在控制大类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志，所给视频只有 320×240 正面视角，指尖在把手附近的前后距离和偶发擦碰不可判明，故开柜接触保留未知；可确定未形成夹持并打开柜门。柜门 0.005 的精确关闭阈值和 native metric 数值未报告，关闭节点仅按门板全程贴合的视觉判据标注。日志有 11684 个控制步、control_dt=0.05 s，不能直接对应这段 30.9 s 视频，未建立二者时钟映射；所有视频时间均取自已检查的帧，日志仅作独立的根因依据。"
+ },
+ "summary_zh": "机器人始终未打开橱柜，麦片和碗均未取放到台面；只有开局就满足且全程保留的关柜状态成立，最终为 1/4。断点是打开橱柜：视频 17.0–18.4 s 及后续尝试中夹爪没有建立有效把手夹持，日志显示末端对位残差未消除便合爪，根因保守归为控制。无状态日志，偶发指尖接触与柜门 0.5% 的精确闭合阈值无法由录像核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "柜门全程未开、麦片和碗未出柜、关柜状态保持，进度 1/4 与视频一致；断点打开橱柜、现象没建立接触、根因控制（log step 81/86/96 的末端残差）均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:39:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--2dijlak/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--2dijlak/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3fbf3af160682c6ac53de06658b65d8b735922e36cd11ac964d6a245c65a9120",
+   "video_sha256": "22bbb6bd35e3d43b67de3459913844a166d1eec450e8589985d2f2a0b42f1224",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--aq837du.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--aq837du",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 1837,
+   "sim_steps": 1837,
+   "calls": 93,
+   "elapsed_s": 1315.1,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.304,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.839,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--aq837du/replay.mp4",
+  "duration_s": 30.8,
+  "fps": 10.0,
+  "frames": 308,
+  "sha256": "d64a55c9bba266ec849fd40fbb2bb091d63d0bf66a454343931eca9b8a14e8d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–10.5 s，机器人将夹爪抬到中央把手附近后反复回撤，门板仍与柜框贴合，没有露出可取物的柜内空间；视频 17.0–22.5 s 的再次接近与回撤也未形成开口。"
+     },
+     {
+      "t": 30.7,
+      "log_step": 132,
+      "text_zh": "观察：视频 30.7 s，双门仍在闭合外观位置；全片未见参考成功录像中门板明显外转、露出红色麦片盒和浅灰色碗的开柜外观。agent 在 log step 132 自述门已改变方向并已反向关闭，但本次录像不支持完成打开橱柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 6.0–10.5 s、17.0–22.5 s，Panda 夹爪在中央柜门把手区域尝试操作，但相向手指与把手的接触处被腕部、机械臂及画面上沿遮住；无状态接触日志，不能确认实际夹住、勾住或仅靠近。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、11.5–15.5 s 和 30.0–30.7 s 的白色目标台面上可见蓝白牛奶盒，未见红色麦片盒；机器人全片只在柜门区域活动，没有把红盒从柜内带到台面的动作。"
+     },
+     {
+      "t": 30.7,
+      "log_step": 139,
+      "text_zh": "推断：成功参考录像中红色麦片盒放到同一台面后清晰可见，本次全片无该外观也无搬运，故麦片放到台面未达成；log step 139 中 agent 的控制器记录声称初态麦片已在台面，与本次画面不符，不能据此记为初始成立。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–15.5 s 机械臂移向右侧时，牛奶盒附近台面露出，未见浅灰色碗；视频 29.8–30.7 s 结束前也无碗被携带或放下，整片未见从上柜取碗的动作。"
+     },
+     {
+      "t": 30.7,
+      "log_step": 140,
+      "text_zh": "推断：成功参考录像中浅灰碗在牛奶旁落台后有清晰的圆形碗体，本次台面没有该外观，故碗放到台面未达成；agent 在 log step 140 自述物品仍在牛奶旁，不替代可见取放证据。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 上橱柜双门的门板与柜框贴合；全片每隔约视频 0.5 s 检查门板，另逐帧检查视频 6.0–10.5 s、20.5–22.5 s、26.5–30.7 s，均未见明确的门板外转或柜内开口，按可见闭合外观保留从初态到结尾的区间。"
+     },
+     {
+      "t": 30.7,
+      "log_step": 119,
+      "text_zh": "观察：视频 26.5–29.7 s 机器人在把手区域做反向运动，视频 29.8–30.7 s 退回低位后双门仍呈闭合外观。log step 119、124 记录 agent 试图反向送回把手，但无柜门关节读数，无法验证归一化开度不大于 0.005 的精确阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 26.5–29.7 s，机器人夹爪在柜门把手区域做回送尝试；log step 119、124 的命令也用于反向关门。接触点被机械臂遮挡，无法确认夹持把手还是没有接触，故不将命令中的合爪直接算作抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 7.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.0 s，机器人已在中央把手附近尝试拉动，但柜门未形成可取物开口；后续反复接近和回撤直至视频 30.7 s 仍未完成打开。推断：这是本次实际着手、最早失败且始终未修复的步骤，后续没有开始麦片或碗的取放。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 132 中 agent 声称门已开后关回、物品仍在台面，并宣布不再改变实时回合；log step 139 的控制器说明又将麦片和碗认定为初态已在台面，log step 140 重申完成后的终态。视频 0.0–30.7 s 却始终无可取物开口，也没有红色麦片盒或浅灰碗到达台面；inputs/run.json 给出 live_success=0、replay_success=0、wall_s=1214、time_limit_s=3600。推断：错误的完成信念驱动 agent 在仍有预算时停止，令开柜失败未再修复，取放也被跳过。"
+   }
+  ],
+  "gap_zh": "观察：已提供且已检查本次完整视频、运行日志和成功参考视频；inputs/ 无状态日志。本次视频只有一个正面视角，夹爪与把手的接触点被机械臂及画面上沿遮挡，无法在没建立接触、没保持住或施力不足之间可靠区分，因此现象层留空、开关柜实际接触记为未知；视觉能判开柜未完成，却不能量出柜门 0.005 的闭合阈值。原生柜门开度指标未报告。日志 control_dt 与总控制步数所对应的时长不等于视频时长，所有导航时间均直接取自帧，未用 agent 时间或控制步反推。"
+ },
+ "summary_zh": "本次最终仅有从初态保持的关柜状态按视觉判据成立（1/4）；机器人多次接近把手，但始终未打开可取物开口，也未将麦片或碗放到台面，断点为打开橱柜。agent 在 log step 132、139–140 错认物品已在台面且门已完成开关，随后停止；本次视频不支持其完成判断。接触细节被遮挡，无状态日志，故不强选接触失败现象，柜门精确闭合阈值亦只能保留视觉判读限制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "逐秒及 5–31 s 每 0.5 s 抽帧核对：柜门全程闭合，红麦片盒与碗从未出现在台面，节点值、断点（打开橱柜）与根因（误以为完成，有 log 支持）与证据一致；现象层留空并有 gap_zh。未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:04:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--aq837du/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--aq837du/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1622e05c070c09c5549ab0275ece77d95c3083b2c1aafc85e6f446a41b7516b1",
+   "video_sha256": "d64a55c9bba266ec849fd40fbb2bb091d63d0bf66a454343931eca9b8a14e8d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--hwhfgij.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--hwhfgij",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 6415,
+   "n_actions": 6415,
+   "sim_steps": 6415,
+   "calls": 247,
+   "elapsed_s": 3594.5,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.31,
+   "peak_processes": 9,
+   "peak_disk_gb": 3.193,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--hwhfgij/replay.mp4",
+  "duration_s": 30.7,
+  "fps": 10.0,
+  "frames": 307,
+  "sha256": "f37d303293ccab05a757648dbfcad61eadb486c258a59ae21aea29d4b3d5ad0c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门关闭；视频 1.6–2.4 s 机器人夹住左门把手并向外拉，视频约 1.9 s 柜内麦片和碗已从明显开口露出，随后门继续转开。视频 4.7–5.5 s 又打开右门，视频 7.0–7.7 s 两侧取物空间均可见。"
+     },
+     {
+      "t": 11.8,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–11.8 s 机器人重新调整并拉开左门；视频 11.8 s 左门大幅外转，柜内两物清楚可见。开门曾反复回摆，但 event 节点在首次完成后保持成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.6–2.4 s、4.7–5.4 s 及后续重开期间，Panda 二指夹爪夹住门把手向外拉门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.7–10.0 s、12.0–12.3 s 机器人底盘退让、重新靠近柜前，支承机械臂调整开门和清障位置。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.7,
+      "log_step": null,
+      "text_zh": "观察：视频 12.8–13.7 s 机器人二指夹住红色麦片盒并从柜架抽出；视频 13.8 s 柜内原来位置已无麦片盒，碗仍在柜架。"
+     },
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "推断：视频 14.4–15.3 s 机器人把夹着的麦片盒降到牛奶左侧台面，盒子部分被前臂遮挡；结合视频 15.4–15.6 s 手移开后红盒平放在白色台面、后续无再次搬动，首次台面接触估计在视频 15.0 s，误差约 0.4 s。此节点不另要求释放或直立。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–30.6 s 红色麦片盒一直留在牛奶左侧台面，视频 30.6 s 终帧仍可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 12.8–15.3 s Panda 二指夹持红色麦片盒，将它从柜架抽出、转向并放到白色台面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.1–12.4 s 底盘向柜前调整位置，支承机械臂开始麦片取放。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.1,
+      "log_step": null,
+      "text_zh": "观察：视频 15.6–17.1 s 机器人开始夹碗沿并抬手、后撤，但碗仍留在上柜架，没有随夹爪转移到下方台面。"
+     },
+     {
+      "t": 24.6,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5–23.2 s 机器人再次夹碗沿并使碗倾斜，抽手后碗仍在柜内；视频 24.2–24.7 s 碗被翻至侧立，随后视频 26.3 s 又正放在柜架上。全段未见碗落到目标台面。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "观察：视频 29.6–30.6 s 及终帧，浅灰色碗仍清楚可见于上柜内，牛奶旁的台面只有已放下的红色麦片盒；碗放台面未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 230,
+      "text_zh": "观察：log step 219 中 agent 自述碗仍在柜内、此前数次抓取失败；log step 230 的最终报告也承认碗未取出。该自述与视频终态一致，但节点判定以视频为据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.5–23.1 s、24.2–24.3 s Panda 二指在碗沿两侧合拢，短暂夹持并翻动碗，后续未保持住以完成搬运。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 24.3–26.3 s 机器人夹爪继续拨动侧立的碗，使其在柜架内翻转并恢复正放；未把碗扫出台面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 17.4–17.7 s、26.1–26.4 s、28.1–28.5 s 底盘移动调整取碗位置，支承机械臂靠近和后撤。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.6
+     ],
+     [
+      3.4,
+      4.4
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.5 s 双门门板贴合柜框；视频 1.6 s 左门开始明显外转，关闭状态失去。"
+     },
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 3.0–4.7 s，左门回摆，视频 3.1–3.3 s 仍留可见柜内物体的缝；视频约 3.4–4.3 s 双门外观重新贴合，视频约 4.4 s 右门开始被拉开。按视觉贴合记一次短暂恢复，边界误差约 0.2 s；没有关节日志可核验 0.005 精确开度。"
+     },
+     {
+      "t": 30.6,
+      "log_step": null,
+      "text_zh": "观察：视频 29.2–30.6 s 机器人改为推动门板；视频 30.6 s 左门仍大幅外转，右门也未贴合柜框，碗仍可从开口看到，最终关柜未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 3.1–3.4 s 机器人手腕接触后左门回摆至贴合；视频 29.2–30.6 s Panda 夹爪再次接触、推动柜门面板，最终未使双门关闭。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 29.4–29.6 s 及30.4–30.6 s 底盘靠近、调整门前位置，支承机械臂推动柜门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_on_counter",
+   "t": 22.9,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：麦片放下后，机器人从视频 15.6 s 起反复取碗；视频 22.5–23.2 s 夹爪夹碗沿并使碗倾斜，但抽手后碗仍留在柜内，视频 24.2–24.7 s 又被翻至侧立。视频 26.3–30.6 s 碗仍未离开柜架，后来改为关门也未修复取碗放台面的失败；因此断点是碗放到台面，锚点选在一次可见失持附近。"
+  },
+  "unmet": {
+   "cereal_on_counter": true,
+   "bowl_on_counter": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 22.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 22.5–22.9 s 机器人夹爪合拢在碗沿并带动碗倾斜；视频 23.0–23.2 s 夹爪后撤时碗未随手带出，仍留柜架。视频 24.2–24.7 s 另一次夹取把碗翻到侧立后，夹爪与碗分离，视频 26.3 s 碗又正放在柜架上；这些夹持均未维持到搬运完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 15.6–28.9 s 机器人始终围绕同一只碗改变夹爪姿态、夹沿和后撤，却反复空手退出或使碗翻转后留在柜架，说明取碗的夹持与撤出动作未执行成功。日志也记录取碗运动因 agent 控制器的 IK residual 异常中止（log step 134、145、164、185、215），以及 agent 自述前沿夹持滑脱、改试侧沿（log step 139、171）；这些与视频中的反复失败相符。现有证据不足以把控制根因进一步限定为接触设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；视频只有正面视角，部分手指与碗沿接触被腕部遮挡，无接触力或物体持有标志，无法精确分解各次失持的微观机制。麦片首次接触台面的瞬间被前臂部分遮挡，视频约 15.0 s 的时间估计误差约 0.4 s；柜门短暂贴合只能作视觉判断，无法核验归一化开度 0.005 的精确边界。评分器未报告 cabinet_door_open_fraction 数值。日志控制步数与视频不作时间换算。"
+ },
+ "summary_zh": "机器人完成开柜���并在视频约 15.0 s 将麦片放到目标台面，最终保持 2/4 个节点成立。取碗时夹持反复失效，碗被翻动后仍留柜架；后续关门也未完成，视频 30.6 s 终帧仍见柜内碗和敞开的门。无状态日志，具体失持机制与柜门精确闭合阈值存在证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间、终态与断点与视频一致：麦片约 15.0–15.4 s 落到台面并保持，碗始终未到台面，关柜在终帧未达成；现象与根因有证据支撑，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:24:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--hwhfgij/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--hwhfgij/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04b71b2dc03d92d8273f0dc5ef732a28e1e28d4a049e0c2cb67f05b4539bf5b4",
+   "video_sha256": "f37d303293ccab05a757648dbfcad61eadb486c258a59ae21aea29d4b3d5ad0c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--oh3433u.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--oh3433u",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 23804,
+   "sim_steps": 23804,
+   "calls": 5293,
+   "elapsed_s": 3508.4,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.351,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.095,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/replay.mp4",
+  "duration_s": 30.3,
+  "fps": 10.0,
+  "frames": 303,
+  "sha256": "937a6b88909244d808cdb693a5cc70d7512315cdb6d38542a3a2b98818e37717"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.7,
+      "log_step": 166,
+      "text_zh": "观察：视频 23.5–24.0 s，机器人夹爪在左门把手附近，随后机器人相对台面后退，左门明显向外转开；视频 23.7–24.0 s 可见门板侧面及柜口内红色盒体的窄条。开口明显区别于先前的小缝，按 DAG 的可取物开口判据记为打开；不据此声称能辨清柜内的碗。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：视频 30.2 s，左门仍向外打开；打开橱柜是 event 节点，成功打开后持续记为已达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 23.5–23.7 s，Panda 二指夹爪位于左门把手处，随后左门随机器人后退而转开；log step 166 的在线操作输出 finger≈0.04、拖动后降至 0.0013，支持曾夹住把手后滑脱。inputs/run.json 的 task_text 明确服务记录并评分在线操作，gen.py 仅留档；此处不是仅凭脚本意图判定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.6–23.8 s，Omron 底盘后移，支承机械臂带动左门向外打开；log step 166 的脚本在夹住把手后执行底盘后退。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0 s，左柜门已向外打开，柜口可见红色盒体窄条；目标白色台面可见蓝色牛奶盒及旁边小物，没有红色麦片盒。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 173,
+      "text_zh": "观察：视频 24.6–26.4 s，机器人空夹爪在柜门下缘附近反复伸缩、回撤，没有携带红盒，也没有把红盒送到台面；柜口红色窄条仍可见。log step 173 的在线脚本在该柜内区域执行扫取命令；命令不作为已接触物体的证明。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–30.2 s，柜口仍可见红色窄条，目标台面没有新增红盒，机器人夹爪未携带红盒；未达到麦片接触台面的判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 24.6–26.4 s，机器人空夹爪在柜门下缘附近反复伸缩；结合 log step 173 可判为取物尝试，但图像不足以确认夹爪实际碰到柜门或麦片盒，不能把扫取命令写成已发生的推/扫接触。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 23.8–24.2 s，左门打开，但柜内区域靠近画面上缘并受门板、机械臂遮挡，无法可靠辨清碗；目标台面没有可见的碗。"
+     },
+     {
+      "t": 27.0,
+      "log_step": 175,
+      "text_zh": "观察：视频 26.6–28.5 s，机器人继续在柜口下方伸缩、侧移空夹爪，没有把碗带到目标台面。log step 175 是同一在线操作中改向旁侧的扫取命令，不证明实际碰到碗。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "观察：���频 29.0–30.2 s，目标台面可见牛奶盒，未见成功参考视频中碗落到台面后的明显碗形轮廓；本次未见碗离柜或落台动作，碗放到台面判为未达到，不能据此声称直接看清碗仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 26.6–28.5 s，机器人空夹爪在柜口下方伸缩；log step 175 支持这是后续扫取尝试，但遮挡和分辨率不足以判断实际接触柜门或碗的方式。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      19.2
+     ],
+     [
+      19.8,
+      23.6
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，上橱柜双门与柜框贴合，初始闭柜状态成立。"
+     },
+     {
+      "t": 19.5,
+      "log_step": 157,
+      "text_zh": "观察：逐帧查看视频 19.0–20.9 s，机器人拉把手时左门下缘在约视频 19.2–19.7 s 短暂向外偏出，随后约视频 19.8 s 回到贴合外观。区间边界为视觉近似，不能据此测量归一化开度 0.005 的精确跨越时刻。"
+     },
+     {
+      "t": 23.6,
+      "log_step": 166,
+      "text_zh": "观察：视频 23.6 s 起，左门明显离开柜框并继续向外转开，闭柜状态再次失去。"
+     },
+     {
+      "t": 29.3,
+      "log_step": 177,
+      "text_zh": "观察：视频 29.0–30.2 s，机器人抬起空夹爪朝门下缘靠近，左门仍保持打开，未恢复与柜框贴合；log step 177 是 agent 脚本的推门关闭尝试，而非已关好的服务判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 29.0–30.2 s，关门尝试中的夹爪靠近左门下缘，但低分辨率和门边遮挡不足以确认该次是否实际抵住门、以何种方式施力；没有可见的有效关门运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cereal_on_counter",
+   "t": 25.0,
+   "log_step": 173,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 23.7 s 左门已打开，早先开门失败得到修复；随后视频 24.6–26.4 s 机器人空夹爪向红色窄条所在柜口方向尝试伸出、回撤，没有携带红盒。log step 173 的脚本命令末端前探并下扫，但前探反馈 x=2.472–2.525，未到达 x=2.00 的指令目标，差约 0.47–0.53 m；该差值来自日志，不是画面测得的柜口距离。结合空手回撤，判断夹爪未到达预定的麦片接触区域，没有建立有效取物接触；不将命令写成实际伸入柜内。log step 175 改向旁侧后仍未带出物体；截至视频 30.2 s 麦片仍未放到台面。故将这轮首先未修复的取物失败定位于麦片放到台面，后续取碗与关门也未完成。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 25.0,
+    "log_step": 173,
+    "evidence_zh": "推断：视频 24.6–26.4 s，机器人空夹爪在柜门下缘外侧向柜口方向反复伸出、回撤，柜口红色窄条没有随夹爪带出，台面没有新增红盒。log step 173 的前探反馈末端 x=2.472–2.525，对目标 x=2.00 仍差约 0.47–0.53 m，打印位置误差 0.486–0.519 m；log step 175 改向旁侧后末端 x 仍约 2.47–2.48。结合这些反馈，判断夹爪未到达预定的麦片接触区域，没有建立能带出麦片盒的有效接触；不声称画面显示伸入柜内，也不排除遮挡处曾有瞬时碰触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 166 的在线操作先夹住把手，再以底盘后退拖门，末端从 [2.144,-0.832,1.502] 移到 [2.653,-0.840,1.502]。此后 log step 170、173、175 的脚本只调整机械臂，没有重新前移或侧移底盘；log step 37 的 C.row / goto_arm 默认底盘速度为零，log step 69 的 ArmServo.move 仅调用 goto_arm。log step 173 四轮前探目标为 [2.00,-0.95,1.58]，反馈末端 x 先为 2.525，随后反复为 2.472–2.474，打印位置误差 0.486–0.519 m；log step 175 五轮改向旁侧、目标 [1.98,-0.86,1.62]，末端 x 仍为 2.473–2.478。视频 24.6–28.5 s 可见空夹爪在柜门下缘外侧伸缩，没有带出物体。推断：开门后仍沿用后退后的底盘站位，反复执行未能到达柜内目标的扫取命令，没有在反馈持续失败后规划底盘重新定位或可进入柜内的取物路径，属于开门到取物的跨阶段策略错误（docs/03_trajectory.md:298–306）。这不证明所有臂姿均物理不可达，也不把脚本诊断误差当作评分器字段。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对、关节开度记录，不能精确确认闭柜 0.005 阈值及小缝阶段的跨阈时刻；视频 19.2–19.8 s 的闭柜区间按可见离框及回贴外观近似。视频 23.7–30.2 s 柜门明显打开，柜口能见红色盒体窄条，但碗的位置无法可靠辨清；不能把未见碗到台面写成直接看见碗留在柜内。取物及末段关门尝试的实际接触点受门边遮挡，contact_actual 因此记未知，没建立有效取物接触及规划根因是结合画面与在线脚本反馈的推断。日志中约 0.5 m 是末端与指令目标的差值，不能当作实测柜口或麦片盒距离；没有物体精确位置、完整可达性分析或阻挡接触记录，不能证明所有臂姿都不可达，也无法区分关节可达性、柜门阻挡和控制器求解对前探停滞的贡献。规划判断限定为：底盘后退开门后，脚本在持续前探失败时仍未重新定位底盘或建立可进入柜内的路径。inputs/run.json 的 task_text 明确标准模式只有一个不可重置的在线 episode，服务记录操作并以最后控制步评分，gen.py 仅供留档；reward.control_steps=23804 与 log step 179 的最终读数一致，故不能用 log step 164 的留档脚本删去其后的在线动作。未将 agent 自述当作搬运事实，未把 agent 时间或服务控制步数换算为视频时间。原生柜门开度数值未报告，指标值为 null。"
+ },
+ "summary_zh": "机器人约在视频 23.7 s 打开左柜门；麦片和碗均未到达目标台面，视频 30.2 s 左门仍打开，最终进度为打开橱柜这一项（1/4，闭柜状态在开局成立）。首先未修复的失败是麦片取放：底盘后退开门后，脚本在末端持续距指令目标约 0.5 m 的反馈下仍反复扫取，未重新定位底盘或规划入柜路径，根因判为认知·推理/规划。柜内碗的位置、具体接触点、精确可达性及闭柜阈值无法确认，现象和根因仍含推断，因此置信度保持 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "标签把 agent 会话里的测试（log step 157/166/173/175/177）当成了被评分回放的事实。被评分的是 /app/output/gen.py 的回放：只有校准、找把手和 open_cabinet，gen.py 里没有取物、扫柜或关门。视频 0–30.3 s 全程没有拍到上橱柜、柜门或红色麦片盒（镜头只对着灶台、台面和牛奶盒），所以“23.5 s 左门转开”“柜内红盒与碗”“29–30 s 左门仍开”都是视频里看不到的东西，不能当观察写。",
+    "n_issues": 6,
+    "n_major": 5
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签基本站得住：我自己逐帧看，视频 23.4–23.8 s 机械臂在柜门处，左门边缘从 23.6 s 起转开，柜口有红色窄条，29–30.2 s 门仍开，台面只有牛奶盒。所以 cabinet_opened 在 23.7 s 左右、麦片和碗未到台面、断点在 cereal_on_counter 都可保留。问题在根因：把 log step 173/175 里“目标 x=2.00、末端一直停在 x≈2.47、误差恒为 0.49–0.52 m”标成“控制”不对，这是一个按所给指令根本到不了的动作，应归 认知·推理/规划。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中完整落实，并与日志一致。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中完整落实，并与日志一致。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:29:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--oh3433u/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b216a84947bd3b5cfba3523ff039eda963550f42d82ffcaca71909f8debd4eb9",
+   "video_sha256": "937a6b88909244d808cdb693a5cc70d7512315cdb6d38542a3a2b98818e37717",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf.json

@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--qbfkdgf",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 3592,
+   "n_actions": 3592,
+   "sim_steps": 3592,
+   "calls": 538,
+   "elapsed_s": 2155.3,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.799,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.623,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf/replay.mp4",
+  "duration_s": 32.8,
+  "fps": 10.0,
+  "frames": 328,
+  "sha256": "19cb30ee7727859ecd627018f5f8441a2d970ae0c5cc054c49130c70bfe34307"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.9,
+      "log_step": 41,
+      "text_zh": "观察：视频 4.4–5.4 s，Panda 夹爪随左柜门把手向外运动，门板转开，视频 4.9 s 已可见柜内红色麦片盒及浅灰碗；视频 10.4 s、15.4 s 再次打开，最后一次开口一直保留到视频 32.7 s。首次达到时间约有 0.3 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.4–5.4 s、10.0–10.8 s、14.9–15.7 s，Panda 二指夹爪夹住左门把手并拉开；退出时机械臂还曾碰回门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.6–3.5 s 机器人底盘后退调整开柜距离，随后支承机械臂操作把手；重试之间也有小幅朝向调整。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.9,
+      "log_step": 73,
+      "text_zh": "观察：视频 18.4–18.9 s 红色麦片盒离开柜内原位，随 Panda 夹爪移到柜外，碗仍留在柜内。"
+     },
+     {
+      "t": 19.9,
+      "log_step": 78,
+      "text_zh": "观察：视频 19.8–20.2 s 红盒底部下降到白色目标台面；视频 20.8 s 机械臂离开后红盒直立留在台面，视频 31.2–32.7 s 仍在同一台面。台面接触起点估计为视频 19.9 s，误差约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.4–20.2 s，Panda 二指夹爪夹持红色麦片盒侧面，从柜内提出、下降放到白色台面，再张爪退出。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": 107,
+      "text_zh": "观察：视频 21.0–27.6 s 机器人多次伸入左侧开口接近碗，视频 27.6 s 碗仍在柜内；视频 29.2–29.9 s 夹爪退出时柜内原位已空，视频 29.9 s 机械臂旁下方短暂露出浅灰弧形碗沿。"
+     },
+     {
+      "t": 30.0,
+      "log_step": 109,
+      "text_zh": "推断：视频 29.9–30.6 s 机器人下降搬运后，碗未留在目标台面；视频 31.2–32.7 s 机械臂退出，台面可见麦片盒和牛奶等原有物品，未见浅灰碗。结合 log step 106–109 的夹紧、提取和保持夹紧下降命令，以及 log step 111 才发出张爪命令，判断碗在搬运中脱手而非完成放置；脱手细节被机械臂遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 27.3–29.9 s，结合 log step 99–107，Panda 二指先在碗侧沿夹持并向外拖动，后改夹前侧碗沿将碗带离柜内；搬运下降时未能保持夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.4–20.9 s 底盘前移靠近柜内的碗，支承机械臂开始取碗；此后还可见小幅位置变化。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      4.4
+     ],
+     [
+      7.4,
+      10.0
+     ],
+     [
+      12.9,
+      14.9
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门门板均贴合柜框；视频 4.4 s 左门开始转开，关闭条件失去。录像只能给出可见贴合边界，不能测量归一化开度 0.005。"
+     },
+     {
+      "t": 7.4,
+      "log_step": 44,
+      "text_zh": "观察：已逐帧检查视频 4.4–7.7 s：左门先完全打开，视频 6.6–7.3 s 随机械臂退出被碰回，视频 7.4 s 门板恢复贴合；视频 7.4–9.9 s 保持该外观，视频 10.0 s 再度向外转开。"
+     },
+     {
+      "t": 12.9,
+      "log_step": 56,
+      "text_zh": "观察：已逐帧检查视频 10.0–14.9 s：左门再次打开，视频 12.2–12.8 s 被退出的机械臂带回，视频 12.9–14.8 s 双门看起来闭合，视频 14.9 s 左门又开始打开。各关闭区间边界为视觉估计，误差约 0.3 s。"
+     },
+     {
+      "t": 32.7,
+      "log_step": 119,
+      "text_zh": "观察：视频 31.4–32.2 s 机器人向开着的左门方向摆臂，机械臂与门板相抵后退回；视频 32.7 s 左门仍外翻，右门也有明显开口，未恢复全部柜门关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 6.6–7.3 s、12.2–12.8 s 机械臂退出时以非夹持接触把左门碰回；视频 31.4–32.2 s 后续关门尝试中，末端及相邻臂段碰推开着的门板，未夹住把手或关好门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 32.5–32.7 s 机器人退出关门尝试后小幅调整底盘朝向；log step 121 含底盘转向命令。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_on_counter",
+   "t": 30.0,
+   "log_step": 109,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 29.2–29.9 s 碗已离开柜内原位，随后机器人下降搬运，视频 31.2–32.7 s 退出后目标台面没有碗。log step 109 在保持夹紧命令下降后报告指间几乎闭合，log step 111 才命令张爪，log step 123 的 agent 自述也称下降时碗滑落；据此前后证据，约视频 30.0 s 搬运脱手是碗放置未修复的失败。后来的关门尝试亦未完成，但没有修复碗放置。"
+  },
+  "unmet": {
+   "cereal_on_counter": true,
+   "bowl_on_counter": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 30.0,
+    "log_step": 109,
+    "evidence_zh": "推断：视频 29.9 s 机械臂旁可见浅灰碗沿，柜内碗原位已空；视频 30.0–30.6 s 机器人下降，视频 31.2–32.7 s 手已空、台面没有碗。log step 106–109 持续给夹紧命令且下降后指间隙由非零变为几乎零，张爪在 log step 111，支持碗在搬运中从夹爪脱出；坠落路径主要被机械臂挡住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 30.0,
+    "log_step": 109,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 104、106 明确将二指夹爪转成窄向姿态夹前侧碗沿，log step 107 以该单处碗沿夹持向外搬运，log step 109 沿用姿态和夹紧命令下降；视频 29.9–30.6 s 的搬运后碗消失，视频 31.2–32.7 s 台面无碗。夹紧期间仍丢失负载，支持这次碗沿夹持未提供足够稳定的承载；log step 123 的 agent 自述“从手指滑落”与此一致。未验证本次场景中另一种具体抓取几何的稳定性，不能确定夹持深度、摩擦或力的各自贡献。"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频仅为正面相机，机械臂遮住碗的部分提取、脱手及落地过程；约视频 30.0 s 的脱手时刻与夹持根因来自前后画面和命令序列的推断。log step 114 的落地坐标来自 agent 自己的深度处理，log step 115、123 的地面不可达结论来自其模型求解与自述，未作为已独立验证的可达性事实。柜门关闭区间按门板可见贴合估计，无法核实 0.005 的精确阈值；原生门开度指标未报告。"
+ },
+ "summary_zh": "机器人完成开柜并将麦片盒放到目标台面，最终为 2/4 个节点成立；双门关闭在初态成立，左门曾两次被机械臂碰回后又重新打开，末态柜门仍未全部关闭。碗放置是首个未修复的失败：约视频 30.0 s 搬运下降时丢失碗，结合持续夹紧命令与前后画面推断为碗沿夹持不稳。没有状态日志，碗脱手与落地受机械臂遮挡，柜门 0.5% 的精确闭合阈值也无法由录像量出。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（碗放置，搬运下降时脱手）与现象/根因与视频和 log 一致；碗脱手被机械臂遮挡，已按推断标注，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:39:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0173f951605c58b21cc031bde7ea942c424a666df4bb21a09c20eb3dd63c7677",
+   "video_sha256": "19cb30ee7727859ecd627018f5f8441a2d970ae0c5cc054c49130c70bfe34307",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--rleesqh.json

@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--rleesqh",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 7106,
+   "n_actions": 7106,
+   "sim_steps": 7106,
+   "calls": 293,
+   "elapsed_s": 2935.0,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.023,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.982,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--rleesqh/replay.mp4",
+  "duration_s": 31.0,
+  "fps": 10.0,
+  "frames": 310,
+  "sha256": "e43b31556c388a778def747d72f380687103834a7b80620652a854132128a18f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3–1.6 s，机器人末端向外带开右柜门，柜内浅灰色碗及可取物的开口露出；此后门回闭不撤销开柜事件。"
+     },
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–10.6 s，机器人再次将右门转开，碗仍在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 0.8–1.6 s，Panda 夹爪接触右门把手区域并带开门；分辨率不足以区分双指夹持与单指勾拉，故不确定具体接触方式。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.4,
+      "log_step": null,
+      "text_zh": "观察：视频 7.8–9.4 s，机器人末端在左柜门附近操作后降到台面，未见红色麦片盒离柜或出现在夹爪、台面上。"
+     },
+     {
+      "t": 24.6,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–24.6 s，机器人再次在柜前操作并向台面下降，未携带红色麦片盒；视频 23.6–24.4 s 倒下的是原有蓝色牛奶盒，不能计作麦片放置。"
+     },
+     {
+      "t": 30.9,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–30.9 s，白色台面没有红色麦片盒；成功参考录像的红盒在同一相机中明显可见，本次未出现该放置结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 7.8–9.4 s、15.8–23.0 s，机器人夹爪在左门及麦片所在方向反复操作，门板遮挡目标接触区；没有看见二指包夹麦片盒，不能将日志的夹取命令记为已建立抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 13.0–14.0 s、19.4–20.0 s，相机与机器人整体相对橱柜移动，底盘调整工作位置并支承取麦片的机械臂。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 117,
+      "text_zh": "观察：视频 1.5–2.9 s，碗先仍可见于右柜内，右门随后回闭，机器人末端在柜门前运动后空手降到台面上方，未见碗随夹爪出来。log step 117 为取碗沿、抬起、移向台面的执行脚本，脚本的完成打印不证明持碗。"
+     },
+     {
+      "t": 11.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.6 s 碗仍在柜内；视频 11.0–12.8 s 机器人再次从柜门附近向台面移动，夹爪未携带碗，台面未新增碗。"
+     },
+     {
+      "t": 30.9,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–30.9 s，目标白色台面上可见倒下的蓝色牛奶盒及原有小物体，没有浅灰色碗。成功参考录像中同一正面视图可清楚显示已放在台面的碗；本次最终画面没有该外观。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.8–2.4 s、10.8–11.4 s，机器人夹爪朝柜内碗所在区域尝试操作，但门板及机械臂遮挡实际接触位置；未见碗被包夹或带出，不能确认夹爪与碗的实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.4–10.0 s，机器人移动底盘调整到右柜门前，随后重试取碗；底盘支承机械臂，未见持碗运输。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1.1
+     ],
+     [
+      2.3,
+      5.5
+     ],
+     [
+      5.8,
+      6.1
+     ],
+     [
+      7.8,
+      10.0
+     ],
+     [
+      13.0,
+      15.6
+     ],
+     [
+      16.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 双门贴合柜框；视频约 1.1 s 右门离框，至视频约 2.3 s 回到视觉闭合位置。"
+     },
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 5.2–7.8 s 的逐帧门板裁图，左门在视频约 5.5 s 向外摆动，视频约 5.8–6.1 s 短暂回到视觉闭合位置后又外摆，至视频约 7.8 s 再次回到柜框；这些轻微开合的边界只能按门板外观粗估。"
+     },
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.8 s 右门外转，视频约 13.0 s 双门再次贴合；视频约 15.6–16.6 s 左门又短暂外摆，至视频约 16.7 s 恢复视觉闭合。"
+     },
+     {
+      "t": 30.9,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–30.9 s 双门保持在柜框位置，机器人后段还在门面前反复推压；视频 30.0–30.9 s 的逐帧末段仍为双门视觉闭合。以上边界按门板外观估计，不能由录像精确测量归一化开度 0.005。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 24.8–30.6 s，Panda 末端在门板及把手附近多次前推、横移，将柜门送回柜框；未将此过程记作握住把手的抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowl_on_counter",
+   "t": 2.4,
+   "log_step": 117,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.5–2.9 s，机器人首次取碗时右门回闭，碗没有随夹爪离开柜内，末端随后空手执行向台面下降的动作；log step 117 对应取碗沿并搬向台面的脚本。视频 10.6 s 碗仍可见于柜内，后续重试及视频 30.9 s 终态均未见碗到达台面，因此这是最早未被修复的失败步骤。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.4,
+    "log_step": 117,
+    "evidence_zh": "推断：视频 1.5–2.9 s 及 10.6–12.8 s 中，碗留在柜内、机器人末端空手撤向台面，未建立取出碗所需的有效夹持接触；并非已经持住碗后在运输途中滑落。log step 117 的闭爪和搬运动作只证明执行了尝试，不替代可见持物结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 117 的首次取碗脚本连续执行预设末端位姿与闭爪，视频 1.8–2.9 s 却未取出碗。log step 160 的后续诊断显示控制器计算的末端 x=2.1501 m，而机器人本体读数为 x=2.2209 m；log step 164 将固定底盘变换改为随观测更新，log step 166 才得到一致位置。该控制坐标偏差支持首次取物未准确建立接触的控制问题；修正变换后也未实际补成碗的放置，不据此细分抓取几何或反馈子类。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "推断：log step 522 的 agent 自写筛选程序按预设 y 区间给点云冠以物体名称，输出 Bowl: NO POINTS FOUND；log step 523 放宽高度筛选后，将高度仅 0.923–0.924 m 的台面附近点命名为 Bowl。log step 529 随即把这些坐标当作碗已稳定放好，宣称任务成功并明确停止动作，而 log step 524 记录仍余 694.9 s 预算。视频 30.0–30.9 s 没有碗或红色麦片盒在台面，说明错误完成判断使未完成的取放被保留为终态。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志，无法精确核验柜门归一化开度 0.005，关门区间按可见贴合估计，边界约有 0.3–0.5 s 误差；柜内实际手指接触被门板遮挡，故两次取放节点的目标接触方式记未知，但可见空手搬运动作与始终没有台面目标物足以判定未完成。视频共 31.0 s，评分器记录 7106 个控制步、服务 control_dt=0.05 s，二者不等长，未将控制步或 agent 时间换算为视频时间；日志仅作动作意图及根因证据。未报告柜门数值指标，native_metrics.value 为 null。"
+ },
+ "summary_zh": "机器人打开右柜门，最终双门在视觉上恢复闭合，终态共 2/4 个节点成立；碗和红色麦片盒均未放到目标台面。首次取碗没有建立有效夹持，后续重试未修复，控制坐标偏差及 agent 依据点云粗筛误以为取放完成分别有日志依据。柜内接触受遮挡，且无状态日志，柜门 0.005 的精确阈值无法从画面确认；agent 成功自述与视频、评分器 success=0 不一致，节点按视频判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（开柜真、麦片/碗未放到台面、关柜终态真）、断点（bowl_on_counter 首次取碗）、现象（没建立接触）与两条根因均有视频帧和日志支撑；未发现需改内容的错误。关柜终态仅凭外观，已在 gap_zh 说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:40:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work_rerun1/runs/robocasa365-cereal-and-bowl-i00-standard--rleesqh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/robocasa365-cereal-and-bowl-i00-standard--rleesqh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "071ae0d90e48e85e0708316c9ea57b906df84f6a3a0906619f57f04d755672ba",
+   "video_sha256": "e43b31556c388a778def747d72f380687103834a7b80620652a854132128a18f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--wwahhvh.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-cereal-and-bowl-i00-standard--wwahhvh",
+ "taskKey": "robocasa365/cereal_and_bowl",
+ "dag_sha256": "657b3b3c2d35db5900bdb22572c00151663e5b46614b0dc66affc1ea71741013",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 9240,
+   "n_actions": 9240,
+   "sim_steps": 9240,
+   "calls": 1103,
+   "elapsed_s": 3177.0,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.34,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.245,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-cereal-and-bowl-i00-standard--wwahhvh/replay.mp4",
+  "duration_s": 30.9,
+  "fps": 10.0,
+  "frames": 309,
+  "sha256": "d2ae1f012a860480a4b8f05b4b9f376b5ed166493586d962da6078442ad982fd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.4–3.4 s 机器人夹爪在正面上柜中央把手附近移动，视频 3.6–4.8 s 机械臂大幅偏离并降到台面附近；正面目标柜没有露出可取出麦片和碗的开口。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–16.6 s 右侧前景门板发生摆动，视频 12.8 s 放大画面仍可在其后看到正面目标柜并列的中央两把手和闭合门板；不能把这块前景门板的摆动记为目标柜打开。成功参考的 oracle 视频 4.5 s 则明确露出红色麦片盒、浅灰碗及柜内底板。"
+     },
+     {
+      "t": 27.8,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–27.8 s 机器人再次接近正面柜把手，但目标柜仍未露出取物空间；视频 28.2–30.8 s 底盘转向水槽一侧，未见取物。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.4–12.8 s Panda 二指夹爪夹持右侧前景门板的把手并带动门板摆动；此前和随后还在正面目标柜把手附近多次闭合尝试。实际夹持前景门板不代表成功打开目标柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 27.8–28.4 s 及视频 30.8 s 相机随移动底盘明显平移、转向，底盘支承机械臂进行最后的开柜尝试；未携带麦片或碗。"
+     }
+    ]
+   },
+   "cereal_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 白色目标台面只有蓝色盒装物及小盒装物，没有红色麦片盒；全片机器人围绕柜门操作，视频 24.0–27.8 s 台面仍未出现红色麦片盒。与 oracle 视频 12.0–15.0 s 红盒抵达台面的外观不同，本次未见从柜内取出或放置麦片。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频 28.2–30.8 s 机器人空夹爪转向水槽，未执行新的搬运；结合此前目标台面始终没有红盒，麦片放到台面的条件在结束时不成立。"
+     }
+    ]
+   },
+   "bowl_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–27.8 s 所检查的台面画面未出现浅灰色碗，机器人没有把碗从柜内带出；oracle 视频 27.0 s 的台面碗体及碗沿轮廓在本次画面中缺席。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频 28.2–30.8 s 机器人空手转离目标柜，没有碗的搬运或落台过程，故碗放到台面的终态为假。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 正面目标上柜双门贴合、中央两把手相邻，关闭状态从开局成立。"
+     },
+     {
+      "t": 16.8,
+      "log_step": null,
+      "text_zh": "观察：视频 12.8 s、视频 16.8–27.8 s 正��目标柜双门及中央两把手仍保持闭合外观；右侧前景门板的摆动没有露出目标柜内物品。未见机器人执行目标柜的关门步骤。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频 27.8 s 目标柜仍为闭合外观，随后机器人空手转向水槽直至视频 30.8 s，未再操作目标柜，故沿用关闭终态。录像无法量出归一化开度 0.005 的精确边界。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cabinet_door_open_fraction",
+   "value": null,
+   "unit": "normalized",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 3.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.6–4.8 s 机器人从目标柜把手附近大幅偏离；随后虽有右侧前景门板摆动，视频 12.8 s 其后正面目标柜的中央两把手与门板仍保持闭合，视频 21.0–27.8 s 的再次接近也未打开取物空间。开柜步骤始终未完成，麦片和碗的取放尚未开始。"
+  },
+  "unmet": {
+   "cereal_on_counter": false,
+   "bowl_on_counter": false,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.6–4.8 s 机械臂离开正面目标把手，降到台面附近；视频 12.8–17.8 s 夹爪向右侧偏移，目标柜仍未露出内部。视频 27.8–30.8 s 最后的底盘转向使机器人远离目标柜，未建立有效的目标柜开门运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：agent 脚本的末端伺服不能稳定跟踪指定把手目标。log step 30 的脚本反复校准后向同一把手目标伺服，输出误差从 0.038 m 增长至约 1.43 m；log step 56 指定目标 [2.161,-0.79,1.60] 后误差仍为 0.497 m，脚本随后继续执行底盘拉动和转向。视频 3.6–4.8 s 的大幅偏离及视频 27.8–30.8 s 空手转离柜前与这种跟踪失败一致；这些日志仅用于控制归因，未把 agent 时钟换算为视频时间。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志。视频分辨率为 320×240，夹爪与把手局部受遮挡，不能可靠区分每次闭合是否夹住目标把手，也不能确认 agent 自述的下滑失握机制；因此未另标没保持住或抓取和接触设计。正面目标柜关闭按可见门板贴合判断，不能精确验证 0.005 开度阈值；视频 28.2 s 后目标柜逐渐离开画面，最终关闭状态结合最后可见画面及此后无柜门操作推断。评分器没有报告 cabinet_door_open_fraction 的数值。"
+ },
+ "summary_zh": "本次仅保留开局即成立的目标柜关闭状态，终态为 1/4；未露出麦片和碗所在的目标柜取物空间，两件物品均未放到台面。断点是开柜操作：机器人末端多次偏离把手并在末尾空手转离，日志中的伺服误差支持反馈控制归因；右侧前景门板的摆动不代表正面目标柜打开。缺少状态日志，细部夹持机制及柜门精确闭合阈值无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频一致：目标柜全程闭合，右侧相邻柜门的摆动未被误记为开柜，开局即成立的 cabinet_closed 保持，终态 1/4，断点 cabinet_opened 合理；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:02:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--wwahhvh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-cereal-and-bowl-i00-standard--wwahhvh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "82331f860eb6cbc88a82cb6640f12babee381a34637825bbe1822c52a4fce2cf",
+   "video_sha256": "d2ae1f012a860480a4b8f05b4b9f376b5ed166493586d962da6078442ad982fd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--3annoaa.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--3annoaa",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2932,
+   "sim_steps": 5864,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 365.4,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 8.652,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.836,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--3annoaa/replay.mp4",
+  "duration_s": 32.7,
+  "fps": 10.0,
+  "frames": 327,
+  "sha256": "73e1f034fb17553f47957e10070b408f2d1e79d46cb8bd868d47289c3f1d9c6c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–3.9 s，机器人夹爪进入下层冰箱后撤出，棕黄色鸡腿随夹爪离开原处；视频 3.6–7.0 s 鸡腿保持在夹爪下方，随后被搬向餐台。"
+     },
+     {
+      "t": 8.3,
+      "log_step": 68,
+      "text_zh": "推断：视频 7.4–8.6 s 机器人将持物夹爪降到托盘内并开始撤手，接触瞬间被机械臂遮挡；视频 18.8–19.0 s 再次接近餐台时可见鸡腿已经留在托盘内，故首次到位记为视频约 8.3 s，误差约 0.5 s。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 86,
+      "text_zh": "推断：视频 18.8–22.3 s 及 30.0–32.6 s 的后续搬运未见鸡腿被带走或掉出；评分器 reward.success=1、replay_success=1，联合成功检查包含鸡腿在托盘上，因此末态成立。log step 86 的逐物检查也报告 chicken=True；log step 97 的交付文件复验成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住鸡腿，从冰箱取出并搬运至托盘后松开；视频 3.6–7.0 s 可见鸡腿随夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "Omron 轮式底盘支承机械臂及所持鸡腿，沿餐台外侧从冰箱驶向托盘；视频 4.2–7.0 s 可见机器人持物绕行至餐台。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.9,
+      "log_step": null,
+      "text_zh": "观察：视频 13.8–15.9 s 机器人伸入冰箱上层后撤出，橙色虾随夹爪离开上层原位；视频 15.9–19.1 s 虾保持在夹爪下方，牛排仍留在冰箱。"
+     },
+     {
+      "t": 21.0,
+      "log_step": 79,
+      "text_zh": "推断：视频 20.7–21.1 s 机器人在托盘上方完成下降，随后撤手；视频 21.5–22.3 s 可见橙色弯虾留在托盘内，故虾到位记为视频约 21.0 s，误差约 0.5 s。接触瞬间被机械臂遮挡。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 86,
+      "text_zh": "观察：视频 32.2–32.6 s 可见橙色虾仍在托盘右侧；评分器 reward.success=1、replay_success=1。log step 86 的逐物检查报告 shrimp=True，log step 97 的两次新进程复验均成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住虾，从冰箱取出并搬运至托盘后松开；视频 15.9–19.1 s 可见虾随夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "Omron 轮式底盘支承机械臂及所持虾，沿餐台外侧从冰箱驶向托盘；视频 16.2–19.1 s 可见持虾机器人从冰箱驶向餐台。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": null,
+      "text_zh": "观察：视频 25.8–27.6 s 机器人夹爪夹住上层粉红牛排并撤出；视频 27.9–28.5 s 冰箱原上层位置已空，牛排在夹爪下方随机器人移动。"
+     },
+     {
+      "t": 31.8,
+      "log_step": 86,
+      "text_zh": "推断：视频 30.4–31.8 s 机器人将所持牛排送到托盘并下降，视频 32.1–32.6 s 撤手后粉红牛排留在托盘远端；首次接触被机械臂遮挡，到位时刻记为视频约 31.8 s，误差约 0.5 s。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 97,
+      "text_zh": "观察：视频 32.2–32.6 s 牛排留在托盘内，夹爪已向餐台近侧撤回；评分器 reward.success=1、replay_success=1、deterministic=1。log step 86 的逐物检查报告 beef=True，log step 97 复验的最终状态哈希相同。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda 二指夹爪夹住牛排，从冰箱取出并搬运至托盘后松开；视频 27.3–30.8 s 可见牛排夹在二指之间并随夹爪搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "Omron 轮式底盘支承机械臂及所持牛排，沿餐台外侧从冰箱驶向托盘；视频 28.2–30.4 s 可见持牛排机器人从冰箱驶向餐台。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": 14,
+      "text_zh": "推断：视频 0.0 s 托盘在镜头外；log step 14 的环境源码规定托盘初始放在餐台，视频 0.0–6.0 s 机器人仅在冰箱取鸡腿并行驶，未操作托盘。视频 7.0 s 首次接近时托盘已平放餐台上，故初态关系记为成立。"
+     },
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–9.6 s、18.8–22.3 s、30.0–32.6 s，棕色托盘均由灰白餐台承托，未见被机器人抓起或拖离；机器人只把三种食材放入盘中。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 14,
+      "text_zh": "推断：视频 32.6 s 托盘仍平放餐台；评分器 reward.success=1、replay_success=1，且 log step 14 所示联合成功检查包含托盘接触餐台，支持末态接触成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人依次把鸡腿、虾和牛排从冰箱夹出并搬到托盘，约在视频 8.3 s、21.0 s、31.8 s 达成放置；托盘留在餐台的关系从视频 0.0 s 起保持，末态共完成 4/4 个节点。评分器报告成功且重放一致，log step 97 的交付文件及生成脚本复验均成功。没有状态日志，放置接触瞬间受机械臂遮挡，节点起点约有 0.5 s 不确定性，精确中心距及撤手大于 0.25 米的联合条件由评分器成功结果确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行；三种食材到位时间（视频约 8.3 / 21.0 / 31.8 s）与帧一致，托盘留在餐台，接触标注符合实际，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:03:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--3annoaa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--3annoaa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "901b8655d58a1164beed5f1d2633c65e336c1f2288fa77bf29669456c115ff9d",
+   "video_sha256": "73e1f034fb17553f47957e10070b408f2d1e79d46cb8bd868d47289c3f1d9c6c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--bphbyzu.json

@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--bphbyzu",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2477,
+   "sim_steps": 4954,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 230.45,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.654,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.833,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--bphbyzu/replay.mp4",
+  "duration_s": 31.1,
+  "fps": 10.0,
+  "frames": 311,
+  "sha256": "a25be6c631f20f684f76e450dc8c46ca83bd767e2cb4e2ff21ce23d8682da8e2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.7,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4–10.5 s，机器人二指夹爪夹着棕黄色鸡腿悬在托盘上方；视频 10.6–11.6 s，夹爪下降到托盘内部并停住；视频 11.7–12.4 s，手臂撤开后鸡腿留在托盘中部。推断：鸡腿约在视频 10.7 s 与托盘建立接触，时间约有 0.3 s 不确定性，未等撤手才计入节点。"
+     },
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.4 s 后机器人离开餐台，视频 14.0–31.0 s 一直在冰箱处操作，未返回触碰鸡腿或托盘。推断：鸡腿放置关系保持到本次视频结束；末帧餐台在画外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.4–10.5 s，Panda 二指夹爪夹住鸡腿；随后将鸡腿降入托盘，视频 11.7 s 撤手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.5–10.5 s，轮式底盘承托机械臂及夹持的鸡腿，从冰箱移动到餐台。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 15.0–17.0 s，机器人夹爪靠近并夹起橙色虾；虾离开上层搁板，随夹爪向外、向上移动。视频 18.0–21.5 s，虾仍挂在夹爪两指之间，机器人没有到达餐台。"
+     },
+     {
+      "t": 29.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–28.5 s，机器人及所持虾停留在冰箱前；视频 28.6–29.2 s 手臂向外抬动，视频 29.2 s 橙色虾出现在冰箱外下方、接近地板的位置。视频 29.4–31.0 s 机器人仍在冰箱前，没有把虾运到餐台托盘，节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.0–21.5 s，Panda 二指夹爪夹着虾，虾离开原搁板并随手移动；视频 29.2 s 已下落至冰箱外。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 14.0–17.5 s，轮式底盘承托机械臂在冰箱前靠近、调整位置，后段夹爪已持虾；未完成向餐台的搬运。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、15.0 s、21.5 s 及视频 29.4–31.0 s，粉红色牛排一直位于冰箱上层搁板；本次视频没有显示夹起、搬运牛排的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 145,
+      "text_zh": "观察：log step 145 的会话输出包含牛排抓取与放置测试，但在保存时因动作数 3460 超过上限 3000 而报错；评分器记录本次交付仅有 2477 个动作。推断：这些后续牛排动作不属于本次视频中的交付，不能用于节点进度或实际接触。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：视频 10.4–12.4 s，棕色长方形托盘平放在带椅子的灰白餐台台面，机器人只向盘内放鸡腿，没有举起或移动托盘；其余视频时段机器人在冰箱或两处之间移动。推断：托盘与餐台的接触从初态保持到末态；视频 0.0 s 和视频 31.0 s 餐台均在画外，但全程未见改变该关系的交互。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_on_tray",
+   "t": 29.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：鸡腿在视频 11.7 s 已留在托盘，机器人随后在视频 15.0–21.5 s 夹起虾；视频 22.0–28.5 s 一直停在冰箱前，视频 29.2 s 虾在冰箱外下落，视频 31.0 s 前没有恢复或完成虾上托盘。推断：首个未修复的失败步骤为虾放上托盘，仍属于该步骤的取出、搬运操作。"
+  },
+  "unmet": {
+   "chicken_on_tray": true,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 29.2,
+    "log_step": 97,
+    "evidence_zh": "观察：视频 21.5–28.5 s 虾在冰箱前的夹爪处，视频 29.2 s 在冰箱外下方下落，整个过程未到餐台托盘。log step 97 的 place_on_tray 在执行目标运动后直接调用张爪 command，log step 104、109、140 修改步数和目标但保留此顺序。推断：搬运未到位便继续进入放置释放，释放位置在目标托盘外，归为位姿不准；张爪瞬间位于画外，具体脱离机制仍有不确定性。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "观察：log step 97 的 move 先求逆解，再按固定步数发送关节命令，打印末端误差后返回；place_on_tray 随后直接张爪，未以末端到位或食材已到托盘作为释放前提，log step 104、109、140 仍沿用此流程。视频 22.0–28.5 s 机器人持续停在冰箱前，随后虾在视频 29.2 s 于冰箱外下落。推断：控制流程没有在搬运未到位时中止并修复，仍推进到释放动作，导致虾未落入托盘。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本次输入没有状态日志，夹爪在视频 28.9–29.2 s 部分移出画面，无法直接确认开指与虾脱离的先后，也无法确定冰箱前长期停滞的具体阻挡接触对，因此不另标碰撞或抓取几何根因。放置释放及反馈控制归因由可见位置与脚本流程联合推断。log step 133 是此前 2996 动作文件的会话重放，不能替代最终 2477 动作视频；log step 145 的后续牛排测试未成功保存。鸡腿及托盘末态在画外，依据放置后机器人未再返回餐台推断保持。"
+ },
+ "summary_zh": "本次评分视频中，鸡腿约在视频 10.7 s 放入托盘，托盘与餐台接触从初态保持，最终完成 2/4 个节点；虾未上托盘，牛排始终留在冰箱。断点为虾放上托盘：机器人持虾停在冰箱前，视频 29.2 s 虾在冰箱外下落，结合脚本未检查到位便继续张爪的流程，推断为位姿不准及反馈控制不足。没有状态日志，开指瞬间及具体停滞接触不可见；后续未保存的牛排测试不计入本次轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标注基本一致：鸡腿约 10.7 s 入盘（盘内遮挡较重，但评分 2/4 与之相符），虾在冰箱前被夹持、视频 29.2 s 于冰箱外下落，牛排始终在冰箱搁板上；断点 shrimp_on_tray 与现象/根因可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:13:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--bphbyzu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--bphbyzu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f37d38f63d0c7bca031c6a7f0b94daa47c2be84fdbb8327210b4335b3f008983",
+   "video_sha256": "a25be6c631f20f684f76e450dc8c46ca83bd767e2cb4e2ff21ce23d8682da8e2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--dtpmykj.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--dtpmykj",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 163,
+   "sim_steps": 326,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 119.42,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.429,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.239,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--dtpmykj/replay.mp4",
+  "duration_s": 8.3,
+  "fps": 10.0,
+  "frames": 83,
+  "sha256": "9625e8fc0de5e1e25d682e21e6049195a2400c749cca2b9afb969c1e3574dc90"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s，鸡腿在冰箱下层搁板，虾与牛排在上层搁板。"
+     },
+     {
+      "t": 5.6,
+      "log_step": 84,
+      "text_zh": "观察：视频 3.0–6.6 s 逐帧检查，机器人向鸡腿处伸入夹爪后撤回，视频 5.6–5.7 s 露出的鸡腿仍在下层搁板，未随末端撤出；视频 7.3–8.2 s 机器人仍停在冰箱前，没有向餐台转运。log step 84 保存的文件恰为评分器所报的 163 个动作，该次输出为 holding=False、moved 0.000；此日志与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人使用 Panda 二指夹爪对鸡腿作闭合抓取尝试；视频 3.6–5.4 s 的指腹与鸡腿之间被腕部遮挡，未见夹住并带走鸡腿，无法从视频确认是否有短暂擦碰，故不标已发生抓握。底盘未在该步骤中移动。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–8.2 s，上层左侧的橙色虾始终在冰箱搁板原位；机器人仅向下层鸡腿处伸手，没有抓取或搬运虾，视频 7.3–8.2 s 的逐帧末段也无变化。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–8.2 s，上层右侧粉红牛排始终留在冰箱搁板，机器人没有向其建立抓取或向餐台搬运；视频 7.3–8.2 s 的逐帧末段仍是原位。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 84,
+      "text_zh": "推断：DAG 明确托盘初态就在餐台上；视频 0.0–8.2 s 中机器人始终在冰箱前，仅机械臂伸取并撤回，未接近餐台。log step 84 的已保存片段在首轮抓取测试后终止，所调用动作沿用 log step 81 的零底盘速度默认值，未执行导航或托盘操作。因此托盘与餐台的初始接触关系全程保留；托盘本身在本次镜头外，此判断不是逐帧接触测量。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 5.6,
+   "log_step": 84,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.0–6.6 s，机器人在鸡腿处完成一次伸手及撤回，但视频 5.6–5.7 s 鸡腿仍露在下层原搁板上，未被取出；随后视频 7.3–8.2 s 机器人仍在冰箱前结束，鸡腿放上托盘这一步没有修复。log step 84 保存的 163 动作抓取测试输出 holding=False、moved 0.000，与评分器 n_actions=163 及本次视频相符；log step 109 的后续夹起、导航属于未保存的另一测试。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 5.6,
+    "log_step": 84,
+    "evidence_zh": "观察：视频 0.0–1.0 s 鸡腿在下层搁板；视频 5.6–5.7 s 在机器人撤手时仍露在同一���板，未随夹爪离开，视频 6.0–8.2 s 没有持物转运。log step 84 的已保存测试也报告 holding=False、鸡腿位移 0.000。推断：取出鸡腿所需的夹持接触没有建立；没有证据表明曾夹起后再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "source_zh": "日志",
+    "evidence_zh": "推断：已保存动作的抓取目标未使两指包住鸡腿。log step 84 显示脚本到达所设抓取点的位置误差约 0.0013 米，却在闭爪和撤回后报告鸡腿位移 0.000；视频 5.6–5.7 s 鸡腿仍在搁板，支持空夹而非轨迹未到位。使用原抓取点的会话诊断 log step 90–91 记录指尖闭至约零开度且机器人接触对为空，log step 92 的网格分析进一步显示原目标相对鸡腿实体偏置。可行替代由会话测试验证：log step 105 修改抓取位置后，log step 109 输出鸡腿位移 0.257 米并列出双指与 chicken_main 的接触；该验证仅支持抓取方案可改进，不计作评分视频进度。"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 84 只运行首轮鸡腿抓取测试并保存 163 动作；log step 109 后续运行已有 4846 动作，保存时报错“a trajectory has 1..3000 actions, got 4846”。log step 110 显示交付目录仍保留较早的轨迹文件，log step 111 明确自述最终提交的是失败首抓的 163 步文件，评分器也报告 n_actions=163、deterministic=1。推断：生成脚本未将改进测试限制并保存为合法长度的交付，实际评分仍落在早先空夹片段。"
+   }
+  ],
+  "gap_zh": "没有状态日志。视频 3.6–5.4 s 的指腹与鸡腿接触区受腕部遮挡，无法确认短暂擦碰，contact_actual 保留未知；所需夹持未建立由撤手后鸡腿留在原搁板及已保存测试相互支持。托盘全程在镜头外，其保持节点依据 DAG 已知初态及机器人全程未接近餐台推断；无法直接测量托盘接触或食材中心距。后续诊断与成功抓取测试只作为根因证据，不赋予评分轨迹节点进度。"
+ },
+ "summary_zh": "本次评分仅重放 163 动作的首轮鸡腿抓取测试：三种食材均未转移至托盘，托盘留在餐台的初始关系推断保持，最终进度为 1/4。机器人在鸡腿步骤空夹后撤手，抓取点几何不合适；后续改进测试超过动作上限而保存失败，未替换早期文件。无状态日志，夹持区被遮挡且托盘未入镜，短暂接触方式与托盘保持关系分别保留未知和推断说明。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度、断点（chicken_on_tray，操作中）、没建立接触、抓取和接触设计与交付操作出错均与视频及 log step 84/109/110 一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:17:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--dtpmykj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--dtpmykj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e2239905d3f2895ff35468d2248bac5b13d1bdd641e4d90095b8685d952f2e02",
+   "video_sha256": "9625e8fc0de5e1e25d682e21e6049195a2400c749cca2b9afb969c1e3574dc90",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--jsw4e78.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--jsw4e78",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1345,
+   "sim_steps": 2690,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 154.69,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 8.744,
+   "peak_processes": 24,
+   "peak_disk_gb": 1.001,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--jsw4e78/replay.mp4",
+  "duration_s": 33.8,
+  "fps": 10.0,
+  "frames": 338,
+  "sha256": "7cad90abd686ba52512fab958880def1a72136c52e6935eb07a9ea7215ff842c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色鸡腿位于冰箱下层灰色层板，虾和牛排位于上层；机器人随后向鸡腿所在层伸入夹爪。"
+     },
+     {
+      "t": 9.3,
+      "log_step": 185,
+      "text_zh": "观察：视频 6.0–9.9 s，机器人抬起并撤出夹爪，视频 9.3 s 可见鸡腿仍留在下层层板；视频 16.7–18.0 s 第二次撤爪后，鸡腿仍在冰箱内，夹爪空着。log step 185 的任务脚本输出两次 chicken_main 抓取 MISS。"
+     },
+     {
+      "t": 22.0,
+      "log_step": 191,
+      "text_zh": "观察：视频 18.0–22.0 s，机器人空手驶离冰箱，三种食材仍在冰箱层板上；视频 32.8–33.7 s，机器人停留在水槽附近通道，没有携带鸡腿。log step 191 验证交付文件只有 1345 个动作。"
+     },
+     {
+      "t": 33.7,
+      "log_step": 183,
+      "text_zh": "推断：结合视频中两次空手撤爪和离开前鸡腿仍在原层板的画面，交付片段没有将鸡腿移到托盘。log step 183 的脚本在首轮行驶后、place 调用前保存轨迹；log step 187 的后续 place 输出发生于脚本动作计数 1627，超过 log step 191 验证的交付文件长度，不把它计作本次视频的放置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.0–6.9 s、11.0–15.9 s，Panda 单臂夹爪伸向下层鸡腿，但手腕和前臂遮住指尖与鸡腿的接触区；不能分辨是否短暂碰触或夹合，不把抓取尝试直接记为已发生抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 17.0–24.0 s，移动底盘支承机械臂，从冰箱前驶向水槽旁通道；夹爪空着，没有携带鸡腿。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾位于冰箱上层；视频 9.3 s、17.5 s、18.0–22.0 s，它仍在该层板上，未随机器人离开。"
+     },
+     {
+      "t": 33.7,
+      "log_step": 191,
+      "text_zh": "推断：视频中机器人两次伸爪的目标均是下层鸡腿，随后空手驶离；上层橙色虾没有离开原位或出现在夹爪中，直到视频 33.7 s 也没有返回冰箱取它，故没有达到放上托盘的关系。log step 191 确认交付仅 1345 个动作，不能用会话后续尝试替代交付片段。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，粉红色牛排位于冰箱上层；视频 9.3 s、17.5 s、18.0–22.0 s，它仍在该层板上，未随机器人离开。"
+     },
+     {
+      "t": 33.7,
+      "log_step": 191,
+      "text_zh": "推断：视频中机器人两次伸爪的目标均是下层鸡腿，随后空手驶离；上层粉红色牛排没有离开原位或出现在夹爪中，直到视频 33.7 s 也没有返回冰箱取它，故没有达到放上托盘的关系。log step 191 确认交付仅 1345 个动作，不能用会话后续尝试替代交付片段。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 33.7,
+      "log_step": null,
+      "text_zh": "观察：已检查本次视频全段粗采样、抓取附近密集帧及视频 32.8–33.7 s 的全部末尾帧；镜头只覆盖冰箱、通道和水槽一侧，没有显示带椅子餐台上的棕色托盘，也没有状态日志或评分器逐节点接触结果。"
+     },
+     {
+      "t": null,
+      "log_step": 13,
+      "text_zh": "推断：DAG 说明托盘初态应接触餐台，log step 13 也输出初始托盘位置，但这不能直接证明交付回放全程的接触关系；本次所有视频视角均未显示该区域，保留未知。成功参考视频 8.0 s、20.5 s、32.5 s 能显示餐台托盘，仅用于识别可见线索，不作为本次轨迹的状态证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 7.0,
+   "log_step": 185,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.0 s，机器人第一次从鸡腿层板向上撤爪；视频 9.3 s 显示鸡腿仍在原层板，第二次撤爪后的视频 17.5 s 仍如此，随后机器人空手离开，没有修复该步骤。log step 185 记录首轮任务脚本的两次鸡腿抓取均为 MISS；断点属于鸡腿搬运放置步骤中的取物阶段。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.0,
+    "log_step": 185,
+    "evidence_zh": "推断：视频 6.0–9.9 s、15.0–18.0 s 的两次撤爪均未带起鸡腿，视频 9.3 s 和 17.5 s 的鸡腿仍受下层层板承托，随后机器人空手驶离；结合 log step 185 的两次 MISS，未建立能提取鸡腿的抓握。指尖是否曾有短暂触碰被手腕遮挡，不能据此称为抓住后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 7.0,
+    "log_step": 185,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 183 的任务脚本以鸡腿物体位置作为夹爪目标，要求接近误差小于 0.010 m；log step 185 的任务执行输出两次最终接近误差为 0.042 m、0.026 m，均报告 MISS，与视频 9.3 s、17.5 s 空手撤爪一致，支持抓取执行控制未达到所需位姿。没有足够证据把接触几何、轨迹求解和跟踪问题进一步分开，故停留在控制大类。"
+   }
+  ],
+  "gap_zh": "没有状态日志。视频中手腕遮住抓鸡腿时的指尖接触区，实际手部接触类型标未知；餐台托盘从未进入本次视频视野，托盘与餐台的接触节点标未知。评分器只报告联合成功为 0，不能由此确定托盘节点。会话后续的 place 和抓虾输出超出已交付的 1345 动作片段，不计作视频内行为；控制根因可确认到大类，缺少更细诊断。"
+ },
+ "summary_zh": "交付视频中三种食材均未放上托盘：机器人两次尝试抓取鸡腿后空手撤出，随后驶离冰箱，首个未修复断点是鸡腿放上托盘。视频约 7.0 s 起的空手撤爪及 log step 185 的两次 MISS 支持未建立搬运抓握，根因归为控制。托盘所在餐台全程未入镜且没有状态日志，该保持节点及夹爪的具体接触方式保留未知；会话后来继续进行的放置和抓虾不属于交付片段。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频和日志一致：视频中鸡腿始终留在冰箱中层板，虾和牛排也未动，两次空手撤爪；log step 185 两次 MISS，step 191 交付为 1345 个动作；托盘节点未知合理，断点、现象和根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:20:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--jsw4e78/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--jsw4e78/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5c78bb3544d0fb4c4f7f6851dae2c57fd8d6731fbe4e8ae776fc000bf7db6fc",
+   "video_sha256": "7cad90abd686ba52512fab958880def1a72136c52e6935eb07a9ea7215ff842c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--vz85lrg.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--vz85lrg",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 788,
+   "sim_steps": 1576,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 130.36,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.752,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.242,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--vz85lrg/replay.mp4",
+  "duration_s": 39.5,
+  "fps": 10.0,
+  "frames": 395,
+  "sha256": "392947dc372191d7ebc34efee1189f6046a5d68aae46250c7f6d125d0feb81a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色带骨鸡腿在冰箱下层搁板上。视频 26.0、31.9、38.5–39.4 s，机械臂左侧下方仍可见鸡腿，机器人没有离开冰箱或把鸡腿运往餐台。"
+     },
+     {
+      "t": 39.4,
+      "log_step": 82,
+      "text_zh": "推断：评分视频中未发生鸡腿转移，鸡腿放上托盘从未成立。log step 82 保存的是最后一次牛排尝试的动作缓冲区；log step 72 的鸡腿 carried=True 是此前独立测试，不计入本段视频。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色虾位于冰箱上层搁板左侧；视频 5.0、15.4、22.8、31.9 及 38.5–39.4 s，虾始终可见于该搁板，机器人未将其取走。虾放上托盘从未成立。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，粉红牛排在冰箱上层搁板右侧；视频 4.5–10.0 s 可见其粉红边缘紧邻机械臂，随后大部分被手腕遮挡。"
+     },
+     {
+      "t": 24.4,
+      "log_step": 82,
+      "text_zh": "观察：视频 22.0–25.5 s 密集帧及视频 31.9、35.0、38.5–39.4 s 显示机械臂仍伸在冰箱内，未出现牛排随夹爪离开搁板、运往餐台的动作。log step 82 确认保存 788×13 动作且 success=False，评分器 n_actions=788、deterministic=1。"
+     },
+     {
+      "t": 39.4,
+      "log_step": null,
+      "text_zh": "推断：尽管末段牛排被遮挡，机器人全程没有完成从冰箱到餐台的转移，牛排放上托盘从未成立；此判断依据视频中的位置与动作过程，不由零分反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 4.5–39.4 s，机器人夹爪伸向牛排所在的上层搁板；手腕遮挡指垫与牛排的接触区。无法辨认是否夹住、仅顶推或未接触，不能把闭爪指令当作实际抓握；底盘未驶离冰箱前。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "推断：任务 DAG 明确托盘与餐台接触在初态成立，log step 4 的任务源码也将 serving_tray 初始布置在 dining_table。视频 0.0–39.4 s，机器人一直在冰箱前活动，未接近餐台、未接触或搬动托盘，故按已知初态推断此关系持续成立。托盘本身全程在画外，未用成功参考视频替代本次观测。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "beef_on_tray",
+   "t": 4.5,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0–4.5 s，机器人把机械臂抬向上层搁板右侧的牛排，随后长时间停留；视频 22.0–25.5 s 及 38.5–39.4 s 仍未把牛排取出。log step 75–76 的最后一段测试针对牛排；log step 82 明确保存最后牛排尝试的 788 步动作，和评分器动作数相同。推断：牛排取放是本次���分轨迹正在执行且始终未修复的失败步骤，断点取视频约 4.5 s 开始停滞处。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.5、5.0、10.0、15.4 s，机器人末端停在牛排所在上层搁板附近；视频 22.0–25.5 s 及 31.9–39.4 s 也未形成把牛排抽出、抬离冰箱的运动。推断：机械臂未达到完成夹取和退出所需的位姿，取出阶段停滞；画面未提供明确阻挡接触或物体从已建立抓握中滑落的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 75 的脚本使用末端位姿伺服来接近、闭爪、后退和抬升牛排；log step 76 的最后牛排测试报告预抓取位置误差 0.229 m、接近误差 0.032 m，接近、后退和抬升均运行至各自 150 步上限，carried=False。log step 82 将该最后牛排尝试的动作保存，评分视频 4.5–39.4 s 同样显示末端滞留冰箱、未带走牛排。推断：控制器没有实现所需的取物位姿与退出运动；现有证据不能进一步区分接触几何、逆解或跟踪问题，停在“控制”。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志。视频分辨率为 320×240，机械臂遮挡牛排与指垫，无法确定实际接触方式以及取出停滞的具体机械原因；因此 contact_actual 记未知，根因不细分。托盘全程在画外，其接触餐台的持续成立依据任务已知初态和机器人未接近餐台推断，未直接观察接触。此前独立测试不计入节点进度；未将 agent 工作时间换算为视频时间。"
+ },
+ "summary_zh": "评分轨迹只保留了托盘在餐台这一初始成立关系，末态为 1/4，三种食材均未上托盘。机器人在牛排取放步骤未完成取出，末端长期停滞在冰箱内；日志支持控制执行失败，但牛排接触区被遮挡，具体接触与控制子原因不明，托盘关系则由已知初态及全程未接近餐台推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅托盘在餐台成立，三种食材未上托盘）、断点（牛排取放）与「位姿不准 + 控制」均与视频及日志相符；788 步缓冲与 step 76 牛排测试（约 750 + 起始抬躯干步数）吻合，推断已标为推断，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:11:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--vz85lrg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--vz85lrg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "45bf87efce5692b9e4aae8542eada169984ac94c89a29a7c17a09182ff399559",
+   "video_sha256": "392947dc372191d7ebc34efee1189f6046a5d68aae46250c7f6d125d0feb81a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--zyhq2p7.json

@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-privileged--zyhq2p7",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1764,
+   "sim_steps": 3528,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 331.87,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 7.918,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-privileged--zyhq2p7/replay.mp4",
+  "duration_s": 35.4,
+  "fps": 10.0,
+  "frames": 354,
+  "sha256": "0dc6c6533eef1996ffba2b681eebece239da58c5dab924c0441c86f7cce15b2c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.3,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–26.4 s 棕黄色带骨鸡腿仍在冰箱下层；视频 26.8–27.8 s 机器人夹爪伸向鸡腿，视频 28.3 s 下层原位置已空，机器人收臂，随后携带鸡腿离开冰箱。"
+     },
+     {
+      "t": 33.9,
+      "log_step": null,
+      "text_zh": "观察：视频 32.4–33.1 s 机器人夹爪下方可见鸡腿，已运到餐台托盘上方；视频 33.2–34.4 s 机械臂下降、松爪，视频 34.5–34.9 s 抬手，视频 35.0–35.3 s 底盘后退，鸡腿未随夹爪带走。"
+     },
+     {
+      "t": 33.9,
+      "log_step": null,
+      "text_zh": "推断：从视频 33.2–34.9 s 的下降、松爪及抬手过程，将鸡腿首次接触托盘标为视频约 33.9 s，误差约 0.4 s；机械臂遮挡了落盘瞬间的局部细节。"
+     },
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "推断：视频 34.5–35.3 s 机器人撤手并后退，评分器 reward.success=1、replay_success=1，确认末态鸡腿在托盘内且夹爪已满足距三种食材均大于 0.25 米的联合验收；未从视频像素估算该距离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人 Panda 单臂的二指夹爪夹持鸡腿，从冰箱取出并搬至餐台托盘上方，再下降、松爪和撤手；抓取及随夹爪移动见视频 26.8–28.3 s，放置见视频 33.2–34.9 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘支承机械臂和所持鸡腿，在视频 28.5–32.5 s 从冰箱沿台面外侧绕行至餐台，完成持物搬运。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱上层左侧有橙色虾；视频 1.6–2.8 s 机器人夹爪伸入该处，视频 3.2–4.0 s 原位置已空，虾随机器人夹爪离开冰箱。"
+     },
+     {
+      "t": 8.3,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–7.4 s 机器人夹爪下方可见橙色虾，位于餐台棕色托盘上方；视频 7.5–8.6 s 机械臂下降并执行松爪、抬手，视频 8.8–9.0 s 撤离托盘；视频 19.6–19.8 s 下一次放置前托盘上仍可见橙色虾。"
+     },
+     {
+      "t": 8.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频 7.2–9.0 s 的下降、松爪及撤手过程和视频 19.6–19.8 s 的留盘结果，将虾与托盘接触的首次达成时刻标为视频约 8.3 s，误差约 0.4 s；接触瞬间被机械臂遮挡。"
+     },
+     {
+      "t": 35.3,
+      "log_step": 57,
+      "text_zh": "观察：视频 35.3 s 托盘仍在餐台，机器人已抬臂后退；评分器 reward.success=1、replay_success=1。log step 56 保存试验 a，log step 57 对该交付文件的新进程重放返回 success=True、initial_success=False，与本次评分结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人 Panda 单臂的二指夹爪夹持虾，从冰箱取出并搬至餐台托盘上方，再下降、松爪和撤手；抓取及随夹爪移动见视频 1.6–4.0 s，放置见视频 7.5–8.8 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘支承机械臂和所持虾，在视频 3.4–7.3 s 从冰箱沿台面外侧绕行至餐台，完成持物搬运。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–13.8 s 粉红色牛排仍在冰箱上层；视频 14.0–15.2 s 机器人夹爪伸向牛排，视频 15.8 s 牛排已离开上层原位置并可见于夹爪下方，随后随机器人搬出冰箱。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "观察：视频 19.6–19.8 s 粉红色牛排位于机器人夹爪下、托盘上方；视频 19.9–21.0 s 机械臂下降并松爪，视频 21.2–21.4 s 抬手离开托盘；视频 33.9–34.9 s 托盘左侧可见留在盘内的粉红色牛排。"
+     },
+     {
+      "t": 20.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频 19.6–21.4 s 的放置过程及视频 33.9–34.9 s 的后续留盘画面，将牛排首次接触托盘标为视频约 20.6 s，误差约 0.4 s；机械臂遮挡了接触区域的一部分。"
+     },
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "推断：视频 33.9–35.3 s 未见牛排离开托盘，且评分器 reward.success=1、replay_success=1，确认末态牛排满足托盘接触及中心距验收；像素画面不能独立测出水平距离阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人 Panda 单臂的二指夹爪夹持牛排，从冰箱取出并搬至餐台托盘上方，再下降、松爪和撤手；抓取及随夹爪移动见视频 14.0–15.8 s，放置见视频 19.9–21.4 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘支承机械臂和所持牛排，在视频 15.8–19.7 s 从冰箱沿台面外侧绕行至餐台，完成持物搬运。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0 s 机器人在冰箱前，餐台托盘尚不在视野；视频 7.0–7.4 s 首次到达餐台时，棕色长方形托盘已经平放在带椅子的灰白台面上，机器人此前只操作冰箱内的虾，未搬动托盘，故将此初始关系计为从视频 0.0 s 起成立。"
+     },
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–9.0 s、19.6–21.4 s 和 32.4–35.3 s 三次放置过程中，托盘均留在餐台同一位置，未见被举起或滑离台面；视频 35.3 s 仍由餐台承托。"
+     },
+     {
+      "t": 35.3,
+      "log_step": null,
+      "text_zh": "推断：结合三次可见的托盘支承关系及评分器 reward.success=1、replay_success=1，判定托盘留在餐台的关系贯穿本次评分轨迹。机器人没有专门操作托盘，因此不填 contact_actual。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人在本次评分视频中依次将虾、牛排和鸡腿从冰箱搬到餐台托盘上，节点约在视频 8.3 s、20.6 s 和 33.9 s 达成；托盘从初态起留在餐台，末态完成 4/4。视频 34.5–35.3 s 机器人抬手后退，评分器 success=1、replay_success=1，与 log step 57 对交付文件的成功重放一致，无失败断点。没有状态日志，落盘接触局部受机械臂遮挡，首次接触时刻约有 0.4 s 误差，精确中心距及撤手距离由最终成功判定支持。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "三个食材（虾≈8.3 s、牛排≈20.6 s、鸡腿≈33.9 s，视频时钟）及托盘初态均与帧一致，评分器成功，无失败断点；时钟与接触标注无误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:18:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--zyhq2p7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-privileged--zyhq2p7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ba7e93bc734656fab6e03b7138c7966df0ebc9d8fc4d1613d4bd85596e7ad4d",
+   "video_sha256": "0dc6c6533eef1996ffba2b681eebece239da58c5dab924c0441c86f7cce15b2c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--dnqgbqq.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--dnqgbqq",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 4459,
+   "n_actions": 4459,
+   "sim_steps": 4459,
+   "calls": 133,
+   "elapsed_s": 3593.0,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.333,
+   "peak_processes": 9,
+   "peak_disk_gb": 3.084,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--dnqgbqq/replay.mp4",
+  "duration_s": 32.0,
+  "fps": 10.0,
+  "frames": 320,
+  "sha256": "77abfb45e59a41ede7bc9742c67fbc2fb17c389920e27b662d4809718ec24e15"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.1,
+      "log_step": 36,
+      "text_zh": "推断：视频 2.3–3.1 s，机器人夹爪从冰箱下层撤出，随后携物移动到餐台；结合视频 6.6–7.3 s 的下放、张爪及鸡腿留在托盘内，确认鸡腿被夹取并转移，而非仅根据 agent 的抓取自述计数。"
+     },
+     {
+      "t": 7.2,
+      "log_step": 69,
+      "text_zh": "观察：视频 6.6–7.3 s，机器人在棕色托盘内下放鸡腿并张爪撤手，视频 7.2 s 可见棕黄色鸡腿留在盘内靠中部；首次成立取视频约 7.0 s，存在约 0.3 s 的遮挡误差。log step 68–69 记录对应的下放、开爪和撤手指令。"
+     },
+     {
+      "t": 31.9,
+      "log_step": null,
+      "text_zh": "观察：视频 31.8–31.9 s，牛排落在托盘内，原先放下的棕黄色鸡腿仍留在盘内；机器人没有再次取走鸡腿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人 Panda 二指夹爪夹取冰箱下层的鸡腿，携带至餐台托盘后松开；抓取处部分遮挡，依据连续搬运和盘内落物核对。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 3.1–6.4 s，Omron 底盘承载机械臂及所持鸡腿，从冰箱前绕行到餐台托盘前。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.3,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–11.3 s，机器人向冰箱上层的橙色虾接近并调整夹爪，撤开后虾仍在搁板上；视频 11.5–12.3 s 继续接近时，虾被拨向搁板左侧，没有随夹爪取出。"
+     },
+     {
+      "t": 25.0,
+      "log_step": 185,
+      "text_zh": "观察：视频 23.6–25.4 s，机器人再次在虾附近转动、闭合夹爪并撤开，虾仍留在左侧搁板上；视频 26.4 s 转向牛排，视频 29.5 s 携牛排离开时，虾仍清楚可见于冰箱左侧。"
+     },
+     {
+      "t": 31.9,
+      "log_step": 212,
+      "text_zh": "推断：全片未见虾离开冰箱并到达托盘；视频 29.5 s 后机器人直接搬运牛排到餐台，视频 31.8–31.9 s 托盘内没有橙色虾。因此虾放上托盘始终不成立；log step 212 的 agent 最终自述也承认虾仍在冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 10.5–12.3 s，Panda 夹爪接近虾时将其拨向搁板左侧；随后多次闭爪未形成可见的持虾搬运，不将这些空夹记为对虾的抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "为继续取虾，机器人在视频约 19.8–20.8 s 以二指夹爪夹住冰箱右门把手并向外拉开右门；抓握对象是门把手。log step 153–158 记录闭爪、外拉及松开的操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 7.4–9.0 s 底盘空手返回冰箱；取虾过程中又多次前后或侧向调整，底盘支承机械臂完成这些接近动作。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.3,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–29.5 s，粉红牛排离开冰箱原搁板，并悬在机器人闭合的夹爪下随手向外运动；虾仍在原搁板左侧。"
+     },
+     {
+      "t": 31.8,
+      "log_step": 209,
+      "text_zh": "观察：视频 31.0–31.6 s 牛排仍随机器人夹爪悬在托盘上方；视频 31.7–31.9 s 夹爪张开并上撤，牛排落在托盘内并留在盘面上，首次成立取视频约 31.8 s。log step 207–209 记录搬到托盘、开爪及撤手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 26.6–28.0 s，机器人前几次抓取牛排时将牛排在搁板上拨动、翻起，随后牛排仍留在搁板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约 28.8–31.7 s，Panda 二指夹爪夹持牛排，将其从冰箱搬到餐台托盘上方，最后开爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 29.3–31.3 s，Omron 底盘承载机械臂和所持牛排，从冰箱前移动至餐台托盘前。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–7.3 s，带椅子的灰白餐台上可见棕色长方形托盘，盘底平放于台面；机器人只向盘内放鸡腿，没有拿起托盘。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：视频开头机器人在冰箱前，直到首次到达餐台前都没有操作托盘；视频 4.5 s 首次清楚看到托盘已在餐台上，结合后续未移动托盘的连续过程，判定此初始关系从视频 0 s 保持。"
+     },
+     {
+      "t": 31.9,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–31.9 s，机器人下放牛排和撤手过程中，托盘持续由餐台台面承托，未被举起或推下。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_on_tray",
+   "t": 11.1,
+   "log_step": 106,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 11.1 s，机器人取虾的接近、闭爪和撤回未把虾带离搁板，随后反复重试仍未取出；视频 23.6–25.4 s 重试后虾依然在冰箱左侧，机器人改取牛排。log step 106–109 记录闭爪后重新张爪撤回，log step 185 的 agent 自述改取牛排，log step 212 承认虾未转移；该步骤直到视频结束都未修复。"
+  },
+  "unmet": {
+   "chicken_on_tray": true,
+   "shrimp_on_tray": false,
+   "beef_on_tray": true,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.1,
+    "log_step": 106,
+    "evidence_zh": "观察：视频 10.5–12.3 s 及视频 23.6–25.4 s，机器人夹爪多次对虾接近、闭合后撤开，虾仍停留在搁板上，没有随手抬离和搬运；只有被拨动的位移。这里未建立的是取虾所需的夹持接触，不能因指尖曾碰虾而视为抓取成功，也没有先持住再滑落的可见过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：取虾的控制未能把接近和闭爪变成有效夹持。视频 9.0–26.3 s 的多次接近与撤回均留下虾在搁板；log step 80–109、165–183 记录 agent 反复改变目标位姿、夹爪角度并闭爪，log step 81、88、120–121、170 的自编逆解器多次返回 ValueError: unreachable；log step 173、175 还显示一次闭爪后撤回时双指接近完全闭合，而视频中虾没有随手移动。这些证据支持控制层面的失败，但不足以在接触几何、逆解与跟踪问题之间唯一归因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐食材评分字段；视频仅为 320×240 的单一视角，夹爪与食材的接触局部常被机械臂遮挡，无法精确核实接触对、力及 0.7 倍托盘半径阈值，放置时刻按可见落物估计。控制步总数 4459 与视频 32.0 s 不构成已验证的逐步时间映射，因此未用 log agent 时间或控制步换算视频时刻。根因只到控制大类，无法可靠区分接触设计、轨迹或反馈子类型；oracle 仅用于核对食材和托盘的外观，不作为本次动作证据。"
+ },
+ "summary_zh": "机器人在视频约 7.0 s 将鸡腿放上托盘、视频约 31.8 s 将牛排放上托盘，托盘始终留在餐台，末态完成 3/4 个节点。首个未修复的断点是虾放上托盘：机器人反复接近和闭爪未夹取虾，随后改搬牛排，虾最终仍留在冰箱；证据支持控制问题。无状态日志，局部接触被遮挡且视频分���率低，具体控制子类型与精确放置阈值不能进一步核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间、断点（虾放上托盘，视频约 11 s 起取虾失败未修复）和现象/根因与视频及日志一致；鸡腿 7.0 s 入盘、牛排 31.8 s 入盘、托盘全程在餐台均可核对，根因停在控制大类符合证据不足时的规则。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:06:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--dnqgbqq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--dnqgbqq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b8ba49e381c4339b1035a87029c77c88d705507360e1acc2a461444fbb48532",
+   "video_sha256": "77abfb45e59a41ede7bc9742c67fbc2fb17c389920e27b662d4809718ec24e15",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--oqhhfxo.json

@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--oqhhfxo",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 5277,
+   "n_actions": 5277,
+   "sim_steps": 5277,
+   "calls": 229,
+   "elapsed_s": 3497.2,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.69,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.221,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--oqhhfxo/replay.mp4",
+  "duration_s": 31.2,
+  "fps": 10.0,
+  "frames": 312,
+  "sha256": "ec57542225f8de89e8ad83b25cf116e37899176c4e0c2e0c10b74591419a62a8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–6.8 s，鸡腿离开冰箱下层并随机器人夹爪移动，棕色鸡腿垂在两指下方；机器人尚未抵达远处的托盘。"
+     },
+     {
+      "t": 7.3,
+      "log_step": 192,
+      "text_zh": "观察：视频 7.1–7.2 s 鸡腿仍在夹爪下，视频 7.3 s 已向下脱离夹爪，视频 7.4 s 后夹爪为空；后续未见机器人取回鸡腿，视频 8.0–14.0 s 及视频 31.0 s 托盘内无食材。log step 192 中 agent 也自述鸡腿在底盘移动中丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.0–7.2 s，Panda 二指夹爪夹住鸡腿并带离冰箱；随后鸡腿从两指下方滑落。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.4–7.3 s，轮式底盘支承机械臂及所持鸡腿，转向并驶向餐台。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–19.5 s，虾仍在冰箱上层，机器人反复调整夹爪；视频 20.2–21.8 s，橙色虾离开原位并随夹爪退出冰箱、转向餐台。"
+     },
+     {
+      "t": 22.4,
+      "log_step": null,
+      "text_zh": "观察：视频 21.8 s 仍可见夹爪中的虾，视频 22.1–22.2 s 虾向下脱离夹爪，视频 22.4 s 后夹爪为空；机器人后续空手绕餐台移动，没有把虾放入托盘。视频 31.0 s 托盘仍为空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 19.5–21.8 s，Panda 二指夹爪合拢夹住虾，将虾抬起、撤出冰箱；搬运时虾滑落。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.9–22.2 s，轮式底盘承载机械臂和所持虾，退出冰箱并向餐台转向、移动。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、视频 15.5–20.8 s，粉红色牛排均在冰箱上层右侧原位；机器人先操作鸡腿、后操作虾，从未夹起或搬运牛排。此后机器人离开冰箱空手绕餐台行驶，视频 31.0 s 托盘为空。"
+     },
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "推断：牛排未发生从冰箱到托盘的转移，故该节点全程不成立；依据可见操作顺序和托盘末态，而非仅凭评分为零。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 6.4 s 起能看到带椅子的餐台上棕色长方形托盘；视频 8.0–14.0 s、视频 25.5–27.5 s 和视频 31.0 s，托盘均平放在同一餐台台面上，未见机器人触碰或举起托盘。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：开局托盘未进入镜头���但机器人从冰箱开始操作，至视频 6.4 s 首次看见托盘之前没有接近托盘；结合托盘之后始终保持原位，判定托盘与餐台的接触从视频 0.0 s 持续至末态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 7.3,
+   "log_step": 121,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.4–7.2 s，机器人夹持鸡腿退出冰箱并移动；视频 7.3 s 鸡腿从夹爪下方掉落，随后夹爪空闭，托盘仍在远处。log step 121 的脚本在驱动底盘时持续发送 grip=1（闭合），log step 122 的服务返回显示两指接近闭合。机器人之后未取回鸡腿，log step 192 中 agent 承认鸡腿丢失后改去取虾；这是第一个未完成且未修复的放置步骤。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.3,
+    "log_step": 121,
+    "evidence_zh": "观察：视频 6.4–7.2 s，棕色鸡腿随夹爪移动并垂在两指下方；视频 7.3 s 鸡腿向下脱离，视频 7.4 s 后夹爪为空。鸡腿是在去往托盘的搬运途中丢失，未发生在托盘上的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 72、74、82、85 的脚本执行夹取、抬升和撤出，log step 88–121 的转向及底盘移动命令持续保持 grip=1；视频 5.4–7.2 s 证实鸡腿已被夹持搬运，视频 7.3 s 却滑出。控制未能在底盘移动期间维持夹持，因此归为控制；没有足够证据区分夹持力、接触几何与反馈控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，视频仅有单个 320×240 机器人视角，缺少鸡腿的接触对、夹持力及滑落前的完整接触几何，故控制根因不细分。视频 0.0 s 托盘位于画外，其初始接触由视频 6.4 s 后的同位静置和此前操作范围推断；视频 31.0 s 再次看见托盘为空，视频 31.1 s 末帧中托盘转出画面。日志 control_steps 的仿真时长与视频时长不一致，未用 agent 时间或控制步数换算视频时刻。"
+ },
+ "summary_zh": "观察：三种食材均未放上托盘，仅“托盘留在餐台”成立，末态进度为 1/4；机器人夹出鸡腿和虾后均在搬运中丢失，牛排留在冰箱。推断：首个未修复断点为鸡腿放上托盘，视频约 7.3 s 鸡腿滑出夹爪，持续闭合命令未能维持抓持，根因归为控制。观察：没有状态日志，夹持力及接触几何无法核实，托盘初态接触由后续画面与此前操作范围推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：视频约 7.3 s 鸡腿从夹爪滑落、约 22.2 s 虾滑落、牛排未动、托盘始终在餐台；进度 1/4、断点在鸡腿放置、接触现象「没保持住」与根因「控制」均有证据支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:15:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--oqhhfxo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--oqhhfxo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5d1af76213bbbe2b7f69f3312d571ce72522f481292933bd68a5c1453bb4e3b",
+   "video_sha256": "ec57542225f8de89e8ad83b25cf116e37899176c4e0c2e0c10b74591419a62a8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--qvobzdz.json

@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--qvobzdz",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 3841,
+   "sim_steps": 3841,
+   "calls": 159,
+   "elapsed_s": 3572.0,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.264,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.486,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--qvobzdz/replay.mp4",
+  "duration_s": 32.2,
+  "fps": 10.0,
+  "frames": 322,
+  "sha256": "3841fc0e9c3fe3d0d4c0986d8944450941c93236f8c8ed3fbd28073846cbd654"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.6,
+      "log_step": 50,
+      "text_zh": "观察：视频 0.0–2.8 s，机器人二指夹爪伸向冰箱下层鸡腿，随后鸡腿离开原处并随夹爪撤出；视频 3.0–6.2 s 底盘将机械臂带到餐台。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 64,
+      "text_zh": "推断：视频 6.3–6.9 s，机器人在托盘上方下降、张开夹爪并抬手，鸡腿留在托盘远端内侧；首次接触托盘约在视频 6.5 s，因腕部遮挡及低分辨率，时间和中心距判定为目测近似。"
+     },
+     {
+      "t": 8.4,
+      "log_step": 71,
+      "text_zh": "观察：视频 7.1–8.3 s 机器人再次在托盘上方操作，视频 8.4 s 可见鸡腿位于托盘内靠左位置；视频 17.0 s、31.0–31.1 s 再次露出的托盘内仍有鸡腿。"
+     },
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "推断：检查视频 6.5–8.4 s 的逐帧画面，调整时鸡腿被机械臂遮挡，不能证实发生了持续超过约 0.3 s 的离盘；因此不单凭 log step 71 的重抓、抬升指令制造进度下降，保持单个区间。视频 32.1 s 末帧没有出现鸡腿离盘的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.6–2.8 s，Panda 二指夹爪夹持鸡腿并从冰箱撤出，随后在餐台托盘上松开；视频 7.1–8.3 s 再次伸入托盘调整鸡腿，调整时指尖被腕部遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.0–6.2 s，轮式底盘支承机械臂与所持鸡腿，从冰箱移动到餐台。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": 90,
+      "text_zh": "观察：视频 10.0–13.1 s，虾位于冰箱上层左侧，机器人先后伸向该处；视频 13.2–14.3 s 机械臂遮住夹持区域并撤回，上层原位置不再有虾。"
+     },
+     {
+      "t": 15.4,
+      "log_step": 111,
+      "text_zh": "观察：视频 15.4–16.0 s，橙色虾可见于冰箱与餐台之间的木地板上；log step 111 中 agent 自编深度分析也将其定位为地板上的虾，但节点判断以视频为依据。"
+     },
+     {
+      "t": 31.1,
+      "log_step": 106,
+      "text_zh": "观察：视频 16.5–17.5 s 机器人到托盘前执行下降、回撤动作，虾仍留在地板；视频 18.0 s 后机器人返回冰箱并操作冰箱门、牛排，未捡回虾。视频 31.0–31.1 s 的地板上仍可见橙色虾，托盘内没有虾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 11.2–14.3 s，Panda 末端在虾所在的冰箱上层处反复伸入、闭合并撤回，虾随后离开原位置并落地；腕部遮挡指尖，无法判定实际形成了对向夹持还是仅碰拨了虾，不能把抓取指令当作实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–11.3 s 底盘靠近冰箱取虾，视频 14.4–17.0 s 又支承机械臂前往餐台执行放置动作；此时虾已留在地板，不能记为成功载虾运输。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.6,
+      "log_step": 164,
+      "text_zh": "观察：视频 20.0–27.6 s，机器人反复在冰箱右门附近操作，粉红牛排仍在冰箱上层；视频 27.7–28.4 s 夹爪伸到牛排附近后撤回。"
+     },
+     {
+      "t": 28.8,
+      "log_step": 170,
+      "text_zh": "观察：视频 28.6–29.0 s，机械臂撤离后粉红牛排清楚地留在冰箱上层原处；机器人随后空手移向餐台，视频 31.0–32.1 s 执行下降和回撤，托盘中没有出现牛排。log step 170 运行牛排取放脚本及 log step 171 自述启动取放均不能证明转移完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 20.0–27.6 s，Panda 末端反复接触、拨动冰箱右门和把手区域以扩大取牛排的开口；这是该放置步骤中的取物准备接触，非抓住牛排。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 27.7–28.4 s，机器人夹爪伸向牛排并撤回，但指尖与牛排之间被腕部、门板遮挡；牛排没有随夹爪离开冰箱，无法确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–20.0 s、27.0–27.6 s 底盘在冰箱前调整位置，视频 29.0–31.1 s 支承机械臂移向餐台执行放置动作；牛排仍留在冰箱。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–8.5 s、16.5–17.5 s 及 31.0–32.1 s，棕色长方形托盘均由带椅子的灰白餐台承托，机器人没有举起或搬走托盘。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：托盘在首次进入画面时已放在餐台上，之前机器人只在冰箱与通道内活动，没有操作托盘；结合后续画面，托盘接触餐台的初始关系从视频 0.0 s 保持到视频结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_on_tray",
+   "t": 14.0,
+   "log_step": 99,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.2–14.3 s，机器人两次伸向冰箱上层虾所在位置，随后撤回；视频 15.4 s 可见虾在木地板上。视频 16.5–17.5 s 的放置动作没有将虾带上托盘，之后机器人转去操作冰箱右门、牛排直至视频 32.1 s 结束，虾的放置步骤未修复；失败锚点取视频约 14.0 s 的撤出阶段，非准确落地时刻。"
+  },
+  "unmet": {
+   "chicken_on_tray": true,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 90、99 的控制脚本明确以虾为目标执行夹闭、抬升和撤出，log step 103 继续执行持物运输与到盘放置；视频 11.2–14.3 s 可见相应取物动作，而视频 15.4–16.0 s 的实际结果是虾落在地板、机械臂继续空手前往餐台。这支持将该步骤归于取物与携持执行的控制失败；遮挡及缺少接触、关节跟踪记录，不足以进一步区分接触设计、碰撞或跟踪问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整视频和运行日志，但没有状态日志；视频仅提供 320×240 的主视角。视频 13.2–14.3 s 的指尖与虾被腕部遮挡，随后虾出现在地板，无法可靠区分从未形成对向抓握与短暂夹住后滑落，也无法确认阻挡接触，因此失败现象层留空、取虾接触方式记未知，根因仅记控制大类。鸡腿在视频 6.3–8.3 s 首次放置及调整时也有遮挡，首次接触时刻、严格中心距以及调整中是否短暂离盘不能精确确定，进度区间按视频与前后位置作近似判断；未用 agent 工作时间或 control_steps 换算视频时间。"
+ },
+ "summary_zh": "机器人将鸡腿从冰箱转移到餐台托盘，托盘一直留在餐台，末态完成 2/4 个节点。最早未修复的失败是虾放上托盘：虾离开冰箱后落在地板，随后牛排取放也空手结束、牛排仍在冰箱。虾的关键夹持过程被腕部遮挡，故不强判具体接触失败现象，根因仅支持控制大类；鸡腿首次达标时间为目测近似。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "对照视频，鸡腿转移、虾落地、牛排仍在冰箱、托盘留在餐台均与标注一致；断点取虾放置步骤合理，现象留��并写明 gap（腕部遮挡），根因仅记控制大类，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:18:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--qvobzdz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--qvobzdz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f279afdc28b545cab1b6ac36e1260171431dd78e5cb9a9388d221127313132e9",
+   "video_sha256": "3841fc0e9c3fe3d0d4c0986d8944450941c93236f8c8ed3fbd28073846cbd654",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--tuhdtga.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--tuhdtga",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 6877,
+   "sim_steps": 6877,
+   "calls": 904,
+   "elapsed_s": 2276.7,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.322,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.264,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--tuhdtga/replay.mp4",
+  "duration_s": 31.4,
+  "fps": 10.0,
+  "frames": 314,
+  "sha256": "ccc08572a08a81c839d1bcec70b63a266994dc10c1e947d25eb818abe952d734"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.8 s 鸡腿可见于冰箱下层搁板；视频 3.1–5.8 s 鸡腿所在区域被机械臂遮挡；视频 8.5 s 下层搁板再次露出时已看不到鸡腿。推断：这些画面不能判定鸡腿是否被夹住、碰落或移到其他遮挡区域。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "观察：视频 14.2–15.4 s 餐台上的棕色托盘为空，机器人到餐台附近时夹爪未携带鸡腿。"
+     },
+     {
+      "t": 31.3,
+      "log_step": 120,
+      "text_zh": "观察：视频 14.2–15.4 s 夹爪未携带鸡腿、餐台托盘为空，此后机器人返回冰箱并停留至视频 31.3 s，未见再次到托盘处放置食材。推断：鸡腿未到达托盘，因此鸡腿放上托盘从未成立，末态为假；鸡腿是否曾离开冰箱原位无法判定，不依据零奖励单独判定节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.0–4.3 s，轮式底盘承载机械臂调整位置，参与鸡腿步骤的对准。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.1–5.8 s 机械臂遮挡鸡腿与夹爪接触区域，视频 8.5 s 搁板上已看不到鸡腿。推断：无法确认夹爪是否接触或抓握鸡腿，亦无法排除碰落或抓住后掉落。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 与视频 4.6 s，橙色虾仍在冰箱上层左侧，粉红牛排在右侧；未见机器人夹爪夹住虾或携虾离开冰箱。"
+     },
+     {
+      "t": 14.4,
+      "log_step": null,
+      "text_zh": "推断：视频 14.2–15.4 s 的托盘为空，随后机器人返回冰箱并持续在牛排一侧调整至视频 31.3 s；全片无虾转移到托盘的过程，因此虾放上托盘从未成立，末态为假。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": 173,
+      "text_zh": "观察：视频 9.8–11.6 s，机械臂在冰箱上层牛排前方反复伸缩，牛排仍留在搁板上；log step 173 的脚本执行了夹爪闭合，但这一输出不能证明抓住牛排。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "观察：视频 25.4–31.0 s 夹爪持续停在牛排前方，牛排未随夹爪移动；视频 31.1–31.3 s 机械臂收回时，粉红牛排仍可见于冰箱上层搁板。全片未见牛排到达餐台托盘。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 5.4–7.8 s、视频 17.6–19.0 s 及视频 23.4–25.4 s，底盘支承机械臂在冰箱前调整位置以接近牛排。未观察到夹爪对牛排形成抓握；伸入冰箱时夹爪与搁板或门体的细微接触被遮挡，不能确认接触方式。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0 s，棕色长方形托盘平放在带椅子的灰白餐台上；视频 14.2–15.4 s 再次看到托盘仍由同一台面承托，机器人未抓取或移动托盘。"
+     },
+     {
+      "t": 31.3,
+      "log_step": null,
+      "text_zh": "推断：托盘在最早可见画面已处于餐台上，期间无移盘动作；视频 15.6–31.3 s 机器人返回并留在冰箱附近，没有再次操作托盘。因此将这一初始关系记为视频 0.0 s 起持续成立。成功参考视频只用于核对托盘及餐台的外观。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 3.8,
+   "log_step": 120,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.8 s 鸡腿位于下层搁板，机器人随后在该搁板前调整机械臂和底盘，视频 3.1–5.8 s 接触区域被遮挡；视频 14.2–15.4 s 夹爪为空、餐台托盘为空。log step 100、115 的脚本明确尝试对准鸡腿，log step 102、120 的输出仍有目标残差。推断：机器人随后转向上层牛排，至视频 31.3 s 没有完成鸡腿放上托盘，首个未修复步骤仍为鸡腿放上托盘，但具体接触过程未知。视频 3.8 s 仅为早期尝试段的约略导航锚点，不是由 agent 时间换算。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 120,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 100 的脚本用底盘位移消除末端到脚本所定鸡腿目标的水平误差，log step 102 中目标为 (3.047, -0.540)，最终末端为 (3.1181, -0.9624)；log step 115 再次对准目标 (3.057, -0.560)，log step 120 中最终末端为 (3.2973, -0.7639, 1.3235)，迭代后仍未达到脚本目标。推断：会话日志的持续对准残差支持控制执行未收敛是鸡腿步骤失败的可能原因，仅保留控制大类；残差不能证明实际接触或排除掉落，也不能验证脚本的鸡腿目标估计准确。没有将这些 log step 与视频遮挡段精确同步，控制细分原因不明。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频为单个 320×240 视角，视频 3.1–5.8 s 机械臂遮挡鸡腿所在下层搁板与夹爪接触区域，视频 8.5 s 搁板上已看不到鸡腿，视频 14.2–15.4 s 夹爪与托盘为空。鸡腿去向不可见，无法区分未抓住、碰落、抓住后掉落或仍在其他遮挡处，因此现象层留空，不认定没建立接触，也不排除没保持住。鸡腿未到托盘及其末态根据中途空托盘、之后无返台放置推断；虾与托盘末态仍根据最后可见状态和后续行为推断。log step 102、120 只支持脚本对准未收敛，根因控制为推断，无法确认其如何造成鸡腿去向变化或细分原因。日志控制步数与视频时长不能直接对齐，未把 agent 时间或控制步数换成视频时间；断点的 log step 与视频锚点分别提供证据，不宣称精确同步。"
+ },
+ "summary_zh": "评分回合只保持了托盘留在餐台这一初始目标，最终为 1/4；三种食材均未送上托盘，首个未修复步骤仍为鸡腿放上托盘。日志的持续对准残差支持控制失败的推断，但鸡腿接触区域被遮挡，之后鸡腿不再可见，不能区分未抓住、碰落或抓住后掉落，现象层留空。没有状态日志，关键接触和鸡腿去向未知、控制根因为间接推断，因此 conf 从 7 下调为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度、断点（鸡腿放上托盘）和 1/4 末态与视频一致；问题在于鸡腿 3.1–5.8 s 被机械臂完全遮挡，视频 6–8.5 s 起下层搁板上已看不到鸡腿，证据把「鸡腿仍在原位、未被带起」写成观察，而「没建立接触」缺少可见依据，宜降为未知并下调 conf。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "进度 1/4（托盘初态成立）、断点（鸡腿放上托盘）、遮挡处接触记未知、现象层留空并附 gap_zh、控制根因标为推断，均与视频和日志一致；未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:32:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--tuhdtga/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--tuhdtga/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--tuhdtga/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--tuhdtga/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0da0f54d0d25ef24c8efef82ee85e38a1eb8a0317f00b2aae39453fbe37c3e39",
+   "video_sha256": "ccc08572a08a81c839d1bcec70b63a266994dc10c1e947d25eb818abe952d734",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--urgi3ne.json

@@ -0,0 +1,229 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--urgi3ne",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 5945,
+   "n_actions": 5945,
+   "sim_steps": 5945,
+   "calls": 1825,
+   "elapsed_s": 3636.3,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.361,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.244,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--urgi3ne/replay.mp4",
+  "duration_s": 31.4,
+  "fps": 10.0,
+  "frames": 314,
+  "sha256": "8ee16e0994949da50d2df7a9acae11a557a00fa7380a7b44b980798cc030a0d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 机器人收臂并转身时，棕色带骨鸡腿仍留在冰箱下层搁板上，未随夹爪离开。"
+     },
+     {
+      "t": 26.0,
+      "log_step": 76,
+      "text_zh": "观察：视频 24.0–31.3 s 机器人空手在冰箱侧面和台面之间反复转向、短移，没有取出鸡腿或向托盘放置的动作；log step 76 的脚本将鸡腿列为优先对象，返回输出仍为 navF blocked, strafing。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 24.0–31.3 s Omron 轮式底盘支承机械臂，空手转向和短距离移动以接近冰箱取物位置；未见夹爪夹住鸡腿。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 橙色虾始终在冰箱上层搁板左侧，机器人收臂时没有带走它。"
+     },
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.6–22.5 s 托盘为空，视频 31.0 s 橙色虾仍清楚可见于冰箱上层；已检查全视频全部 314 帧，没有虾离开搁板并送到托盘的动作。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 粉红色牛排始终留在冰箱上层搁板右侧，未被夹起。"
+     },
+     {
+      "t": 21.9,
+      "log_step": null,
+      "text_zh": "观察：视频 21.9 s 转向冰箱时仍能看到上层搁板上的牛排；视频 21.6–22.5 s 可见餐台托盘为空，后续至视频 31.3 s 没有牛排搬运或放置动作。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.3–7.6 s 棕色长方形托盘平放在带椅子的餐台远侧，视频 21.6–22.5 s 从另一侧仍可见托盘由餐台承托，未被机器人碰动。"
+     },
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–31.3 s 没有机器人举起、推动或撞落托盘的动作，可见时托盘一直处于同一餐台位置，因此该初始关系从视频 0.0 s 保持到结束；首尾视野未直接覆盖托盘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 24.5,
+   "log_step": 76,
+   "where": "转场",
+   "evidence_zh": "观察：视频 24.0–30.9 s 机器人空手停留在冰箱侧面通道，反复转向和短移，视频 31.0 s 虽再朝向冰箱也未开始取物，之后空手转开；log step 70、73 的输出反复停在 navF0，log step 76 明确启动优先取鸡腿的单次循环，输出仍为 navF blocked, strafing。推断：未修复的失败发生在鸡腿放上托盘步骤的取物转场，不能把后续未启动的虾或牛排步骤选作断点。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "步态",
+    "t": 24.5,
+    "log_step": 76,
+    "evidence_zh": "观察：视频 24.0–30.9 s 机器人底盘在冰箱侧面的狭窄区域反复小幅移动和转向，未形成到达冰箱正面取物位置的有效行进；视频 31.0–31.3 s 机器人仍空手，未发生翻倒。推断：这里是转场行进未到位，属于无跌倒的行进不足，而非已经抓住食材后的失持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 45 的导航代码按负角误差施加 yaw 指令，log step 51 打印的相机朝向与目标方位明显相背，log step 52 随后修改转向符号；log step 59、64 又更换底盘速度坐标变换，log step 67、70、73、76 的实际输出仍反复出现导航无进展。视频 4.0–31.3 s 的反复转向和短移也没有带来取物搬运。推断：agent 自编底盘导航控制没有建立可靠的目标到达能力；具体是避障输入、轨迹选择还是运动模型的最终残余错误，证据不足以细分。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；底盘与家具的接触点被视角遮挡，不能确定导航无进展是否由真实碰撞造成。agent 在 log step 77 自述前方深度防护看到了机器人自身手臂，但没有提供可独立核实的深度区域或修复后结果，不据此增加感知根因。视频仅 31.4 s，服务累计 5945 个控制步，缺少逐帧对应关系，因此未把 agent 时间或控制步数换算成视频时间；视频断点仅为目视导航锚点，log step 76 提供执行对象依据。托盘首尾不在视野中，其持续保持由中途画面及全程未被操作推断。"
+ },
+ "summary_zh": "机器人没有把鸡腿、虾或牛排从冰箱送上托盘；只有初始即成立的托盘留在餐台关系保持，末态进度为 1/4。鸡腿搬运卡在空手去取物的转场，底盘反复转向、短移，日志支持自编导航控制未能可靠到达取物位置。无状态日志且底盘接触点不可见，不能把导航受阻进一步归为真实碰撞或已证实的深度误判。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点值（三种食材未到托盘、托盘初态保持，final=1/4）与视频一致：0–1.4 s 食材仍在冰箱搁板上，之后机器人空手行驶，全程无抓取/放置。断点在鸡腿放置步骤、转场，控制根因有日志支持；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:28:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--urgi3ne/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--urgi3ne/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ff7524cb9e4fedadb8c0ff859cf13b3256d40552d2276fce4a7ae70701c6513",
+   "video_sha256": "8ee16e0994949da50d2df7a9acae11a557a00fa7380a7b44b980798cc030a0d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--vb7cd3i.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--vb7cd3i",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 5095,
+   "n_actions": 5095,
+   "sim_steps": 5095,
+   "calls": 942,
+   "elapsed_s": 1640.1,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.394,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.318,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--vb7cd3i/replay.mp4",
+  "duration_s": 32.0,
+  "fps": 10.0,
+  "frames": 320,
+  "sha256": "abe8346104a01aa2919a11e952750e3a3c9639f89370b2c0e6c181d2a812ef6d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，鸡腿在冰箱下层抽屉上方，虾和牛排在上层，三种食材均不在餐台托盘。"
+     },
+     {
+      "t": 28.5,
+      "log_step": 67,
+      "text_zh": "推断：视频 28.0–28.3 s，鸡腿由原位移向夹爪附近；视频 28.4–28.8 s，机器人抬手回撤，原位已空，未见鸡腿随夹爪继续搬运。log step 67 的脚本先闭爪、上提 0.06 米，再向外回撤，期间指关节读数由约 ±0.009 米变为接近零；结合后续没有去餐台的动作，判断鸡腿短暂夹住后脱落，没有达到托盘关系。"
+     },
+     {
+      "t": 31.9,
+      "log_step": 85,
+      "text_zh": "观察：视频 28.9–31.9 s，机器人一直留在冰箱前，先低探后转向上层，未携鸡腿返回餐台；log step 85 中 agent 自述鸡腿落地且未取回。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：Panda 二指夹爪在视频 28.0–28.4 s 短暂夹住鸡腿，抬起回撤后丢失；由鸡腿离开原位、夹爪附近的短暂随动及 log step 67 的闭爪与指关节读数共同判断，不代表成功搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 20.0–27.0 s，轮式底盘支承机械臂从餐台返回冰箱并调整取鸡腿的位置。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.8,
+      "log_step": 41,
+      "text_zh": "观察：视频 7.5–13.4 s，橙色虾随机器人夹爪离开冰箱并被运到餐台；视频 13.6–14.1 s，虾落到托盘左侧台面，未在盘内。"
+     },
+     {
+      "t": 17.0,
+      "log_step": 55,
+      "text_zh": "观察：视频 15.0–16.9 s，机器人重新下探、夹起盘旁的虾并移入托盘；视频 17.0–19.8 s，夹爪撤离后，橙色弯虾静置在棕色托盘内靠中央处。首次成立时间约为视频 17.0 s，遮挡造成约 0.3 s 的不确定性。"
+     },
+     {
+      "t": 19.8,
+      "log_step": 85,
+      "text_zh": "推断：视频 19.8 s 后机器人离开餐台，直至视频 31.9 s 均在冰箱附近，没有再次触动托盘或虾；因此虾在盘内的关系保持至末态。log step 85 中 agent 的末态自述与这段视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 二指夹爪夹持虾离开冰箱并搬运；虾先掉在盘旁，机器人随后再次夹起，移入托盘后张爪撤手（视频约 7.5–17.0 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 8.0–13.0 s，轮式底盘支承机械臂及所夹虾从冰箱驶向餐台，并在重新拾取时调整位置。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，粉红扁平牛排留在冰箱上层右侧。"
+     },
+     {
+      "t": 31.9,
+      "log_step": 81,
+      "text_zh": "观察：视频 29.8–31.5 s，机器人将夹爪伸向冰箱上层右侧，随后空手退出；视频 31.8–31.9 s，粉红牛排仍能在上层右侧看到，没有被送至餐台。log step 81 的闭爪抬手指令未产生可见的牛排搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 30.4–31.5 s，夹爪确实伸入牛排所在的上层右侧，但腕部和右冰箱门挡住指尖与牛排之间的区域；只能确认尝试，不能确定是否实际压到牛排或仅空夹，不据 log step 85 的自述补画接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 29.8–31.9 s，轮式底盘配合升高躯干调整上层取物位置，最后支承空臂后退。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 1.0 s 远处可见餐台上的空棕色托盘；视频 12.0–19.8 s 的近景显示托盘由带椅子的灰白餐台承托，机器人在盘旁拾虾及向盘内放虾期间，托盘没有被举离台面或掉落。"
+     },
+     {
+      "t": 31.9,
+      "log_step": null,
+      "text_zh": "推断：首次看清托盘前机器人没有到餐台取盘；视频约 20.0–31.9 s 机器人离开餐台后一直在冰箱前，未再操作托盘。结合初始布置与连续动作，托盘接触餐台的关系从视频 0.0 s 保持到末态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_on_tray",
+   "t": 28.5,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 28.0–28.8 s，机器人在冰箱下层夹取鸡腿并回撤，鸡腿离开原位后没有随夹爪完成搬运；log step 67 在持续闭爪的回撤中指关节读数由有间隙变成接近完全闭合。机器人随后低探但未取回鸡腿，直到视频 31.9 s 也没有返回餐台；这是虾放置修复后首个未修复的步骤，后续牛排抓取同样未完成。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": true,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 28.5,
+    "log_step": 67,
+    "evidence_zh": "推断：视频 28.0–28.3 s 鸡腿从原来的下层位置移到夹爪旁，视频 28.4–28.8 s 抬手回撤后既不在原位，也没有继续随手搬运。log step 67 明确持续闭爪，上提后再回撤，指间隙却从约 17 毫米缩到约 1.5 毫米；log step 85 中 agent 自述鸡腿滑脱落地。结合前后帧与读数，判断为短暂建立夹持后丢失，脱落瞬间受腕部遮挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志、视频、agent 自述",
+    "evidence_zh": "推断：log step 67 中 agent 的脚本闭爪后仅先上提 0.06 米，随后向冰箱外回撤 0.45 米，并保持闭爪；夹持间隙随后消失，对应视频约 28.4–28.8 s 的空手回撤。log step 85 中 agent 明确自述只夹住鸡腿细骨端，回撤时滑脱，认为应抓较厚处并先抬得更高。这支持夹持部位及脱离抽屉时的承载设计不足；细骨处接触和抽屉前壁碰撞未由视频直接看清，属于待核实解释，所提替代握法在本次未验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频仅有低分辨率随机器人移动的单视角。鸡腿脱落瞬间、落地点和细骨端的对向接触被腕部及冰箱结构遮挡，脱落判定综合前后帧及 log step 67 读数，不能独立确认其是否碰到抽屉前壁；牛排尝试的实际接触方式保持未知。托盘中心距阈值无法从像素精确测量，虾的入盘时间按首次清晰可见关系估计；视频约 20.0 s 后虾和托盘在画外，末态保持由机器人未返回餐台的连续动作推断。未把 agent 工作时间或控制步数换算成视频时间。"
+ },
+ "summary_zh": "机器人把虾从冰箱搬到餐台，先掉在盘旁，重新拾取后于视频约 17.0 s 放入托盘；托盘一直留在餐台，末态达成 2/4 个节点。最早未修复的失败是鸡腿放置：视频约 28.5 s 夹取回撤时丢失鸡腿，随后牛排也没有离开冰箱，整体评分为失败；日志支持夹持与脱离抽屉的接触设计不足。鸡腿具体脱落和碰撞细节受遮挡，细骨端握法主要来自 agent 自述，牛排实际接触方式无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "虾入盘约视频 17 s、托盘始终在餐台、鸡腿约 28 s 被举起后丢失、牛排未离开冰箱，均与帧一致；断点与根因有证据且标注为推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:07:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--vb7cd3i/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--vb7cd3i/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ea13ea092d1fdc1125c29a891378681eb5e09611807568233fa267c3b08dbb59",
+   "video_sha256": "abe8346104a01aa2919a11e952750e3a3c9639f89370b2c0e6c181d2a812ef6d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--xt5xnjt.json

@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-display-meat-variety-i00-standard--xt5xnjt",
+ "taskKey": "robocasa365/display_meat_variety",
+ "dag_sha256": "4a974991d162a82cd1ba88eac95946b8728c54464f67459ff5fe223cc6845091",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 4928,
+   "n_actions": 4928,
+   "sim_steps": 4928,
+   "calls": 1032,
+   "elapsed_s": 3134.9,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.613,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.957,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-display-meat-variety-i00-standard--xt5xnjt/replay.mp4",
+  "duration_s": 30.9,
+  "fps": 10.0,
+  "frames": 309,
+  "sha256": "f549790c076fe5362f461e689aba5d9d959e9d52dc759af9c88a7c2b9b3a3105"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "chicken_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": 149,
+      "text_zh": "观察：视频 17.5 s 鸡腿仍在冰箱中层，机器人空夹爪停在冰箱右侧；log step 149 明确记录 agent 在取虾失败后改取鸡腿，log step 164、169 的鸡腿接近尝试均未到位。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–29.8 s 机械臂在冰箱右侧台柜附近调整，鸡腿始终留在原层板；逐帧检查视频 29.8–30.8 s，鸡腿仍在冰箱，机械臂抬高时没有带走食材，没有鸡腿进入托盘的过程。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "候选：空夹。机器人单个 Panda 二指夹爪在取鸡腿尝试中闭合，但未围住鸡腿，故不能标成已发生的抓握；视频 22–28 s 夹爪在右侧台柜附近，鸡腿留在冰箱中层，log step 200、206、208 记录这些闭合动作。"
+     }
+    ]
+   },
+   "shrimp_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.7,
+      "log_step": 142,
+      "text_zh": "观察：视频 16.4–17.4 s 机器人末端在冰箱右侧、虾所在层板的右下方移动，橙色虾仍在上层原位，未随手移动；画面不足以辨认夹爪开合。另据 log step 139–142，取虾脚本反馈 pre err 0.492、ABORT: bad approach，之后仍打印 closed, fingers 0.0002。推断：这段画面与日志可能属于同一取虾尝试，但对应关系未经可见事件核对；视频 16.7 s 仅作导航锚点，不是 log step 142 的已核实发生时刻。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–30.8 s 虾仍在冰箱上层左侧，末帧也可见；整段视频没有把虾从层板带到餐台的动作，故虾放上托盘从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在视频约 7–16 s 的冰箱前进退、转向过程中支承机械臂，为首次取虾调整工作位置；log step 139 的脚本先执行底盘 goto，log step 142 记录了接近后的底盘位置。此时未持虾。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "候选：空夹。观察：视频约 16–17.5 s 单个 Panda 二指夹爪位于虾所在层板的右下方，虾仍留在层板，画面看不清指尖开合。闭合依据 log step 142 的状态读取输出 closed, fingers 0.0002，随后另有 retreat 输出，不是画面所见；该日志与这段视频的对应未经核对。推断：取虾尝试没有形成有效夹持，故不使用抓握。"
+     }
+    ]
+   },
+   "beef_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 粉红色牛排在冰箱上层右侧；视频 13.5、14.0、17.5、28.0 和 30.8 s 仍可见牛排或其露出的粉红色部分留在该层板，机器人没有把它拿离原位。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频全程的操作依次是空手调整、取虾未成和改取鸡腿未成，未见牛排转移或放上托盘；末���虽有冰箱门板遮挡，但前后可见牛排仍在原处，因此此节点为未完成，而非仅凭总奖励为零判断。"
+     }
+    ]
+   },
+   "tray_on_dining_counter": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.7,
+      "log_step": null,
+      "text_zh": "观察：视频 2.7 s 及 4.2 s，棕色长方形托盘平放在带白色椅背的灰白餐台上，托盘内没有三种目标食材；机器人在附近转向，夹爪未接触托盘。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–30.8 s 未见机器人抓起、推动或搬运托盘；视频 4.2 s 后机器人转回冰箱并一直空手操作，因此把已观察到的托盘与餐台接触关系延续至首尾，记为初态即成立且始终保留。末段托盘离开视野，末态为上下文推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "shrimp_on_tray",
+   "t": 16.7,
+   "log_step": 142,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.4–17.4 s 机器人末端在冰箱右侧、低于虾所在上层的位置移动，虾仍留在层板；画面不能确认夹爪闭合。另据 log step 139–142，取虾脚本在接近误差 0.492 m 后仍执行闭合并撤退；log step 149 随后改取鸡腿。推断：日志中的取虾失败与该视频片段可能相关，但未通过可见事件核对对应关系；4928 个控制步与 309 帧仅给出全片平均约 16 控制步/帧，不能据此精确定位 log step 142。视频直至 30.8 s 虾未离开原处，首次失败的取虾步骤从未修复，故断点属于虾放上托盘；视频 16.7 s 保留为约略导航锚点。"
+  },
+  "unmet": {
+   "chicken_on_tray": false,
+   "shrimp_on_tray": false,
+   "beef_on_tray": false,
+   "tray_on_dining_counter": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 16.7,
+    "log_step": 142,
+    "evidence_zh": "观察：视频 16.4–17.4 s 机器人末端在冰箱右侧移动，虾仍留在上层左侧，未随手移动；夹爪开合无法从画面确认。另据 log step 142，取虾接近失败后打印 closed, fingers 0.0002 及 retreat err 0.3887。推断：结合虾全程未被带离层板，所需的夹爪与虾抓取接触未建立；日志与该视频片段的对应尚未经可见事件核对。全片 4928 控制步/309 帧约为 16 控制步/帧，仅为总量比值，视频 16.7 s 不是该闭合动作的确定时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 139 的取虾控制脚本在接近误差超过 0.05 m 时只跳出接近循环，循环之后仍无条件执行闭合与撤退；log step 142 实际输出 pre err 0.492、ABORT: bad approach，继而 closed, fingers 0.0002 和 retreat err 0.3887。视频 16.4–17.4 s 可见末端在虾右下方移动而虾留在层板，不能看清闭合，亦未核实这段画面与 log step 142 的对应。推断：日志支持末端未到有效抓取位姿时脚本仍继续闭合、撤退，视频支持虾没有被带走；现有证据仅支持控制层归因，不能确定坐标变换、逆解或阻挡各自的贡献。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，视频只有 320×240 的单路机器人视角，夹爪开合看不清。全片 4928 个控制步对应 309 帧，平均约 16 控制步/帧；这只是总量比值，未建立逐步映射，也未通过可见事件核对 log step 139–142 与视频 16.4–17.4 s 的对应。视频时间直接取帧，未把 agent 时间或墙钟时间换算为视频时间；断点视频 16.7 s 仅作导航锚点，闭合来自日志状态读数。无法分清首次接近失败中坐标变换、逆解执行与门板阻挡的具体贡献，故根因保留在控制，不把 log step 225 中 agent 自述的坐标系错位或卡住直接当作已核实事实。托盘在视频末段离开视野，末态保持依据视频早段的台面接触和全程未操作托盘推断。"
+ },
+ "summary_zh": "三种食材均未从冰箱转移到托盘，只有托盘留在餐台成立，初始、峰值及最终进度均为 1/4。日志显示首次取虾接近失败后仍闭合、撤退，视频显示虾始终未被带走，最早未修复的断点仍为虾放上托盘，根因保留在控制。因视频与日志的对应未经核对、画面看不清夹爪闭合且具体控制原因无法核实，置信度由 8 降为 7；托盘末段保持为上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（仅托盘成立，1/4）、断点（虾放上托盘）和控制根因总体有证据支持；唯一需要改的是证据写法：视频只有 30.9 s，对应 4928 个控制步，文件没有给出视频时间与 log 步的对应及其核对，却把视频 16.4–17.4 s 的画面与 log step 142 的闭合/退回直接对上，并把低分辨率下看不清的夹爪闭合写成观察。",
+    "n_issues": 3,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（仅托盘成立，1/4）、断点（虾放上托盘）、没建立接触与控制根因均有证据；第 1 轮提出的视频与 log 对应问题已改为推断并说明，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:28:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--xt5xnjt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--xt5xnjt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--xt5xnjt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-display-meat-variety-i00-standard--xt5xnjt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "508228621ddaab57b261cf903753b061f21cb4f0171fd1d4f6300b9abb87b489",
+   "video_sha256": "f549790c076fe5362f461e689aba5d9d959e9d52dc759af9c88a7c2b9b3a3105",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1042,
+   "sim_steps": 2084,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 106.48,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.849,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.068,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu/replay.mp4",
+  "duration_s": 34.9,
+  "fps": 10.0,
+  "frames": 349,
+  "sha256": "53602ebf3820207723cdd9b96b1164998a9c4a94c09110660ffda1b810a6269a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕色鸡腿位于冰箱内浅色保鲜盒中。"
+     },
+     {
+      "t": 26.1,
+      "log_step": null,
+      "text_zh": "观察：视频 25.5–28.8 s，机器人撤手后，炉腔内的浅色保鲜盒中仍可见棕色鸡腿，未见鸡腿落在盒外。"
+     },
+     {
+      "t": 34.8,
+      "log_step": null,
+      "text_zh": "推断：搬运时盒内区域多被机械臂遮挡；结合视频 0.0 s 的初始容纳关系、视频 25.5–28.8 s 的再次显露、沿途未见鸡腿掉落，以及评分器 reward.replay_success=1，判定鸡腿留盒关系持续至视频终帧 34.8 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人Panda夹爪持浅色保鲜盒，盒底从下方承托鸡腿随盒搬运；视频 25.5–28.8 s 可见鸡腿仍在盒中，未见夹爪直接夹鸡腿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 6.5–20.5 s，机器人移动底盘承载机械臂、所持保鲜盒和盒内鸡腿，从冰箱侧退开并移向微波炉。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 盒子在冰箱搁板上；视频 5.5–7.5 s 机器人抬起并后撤，原来放盒的位置变空，夹爪前方的盒子随机械臂移出。"
+     },
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "推断：视频 20.8–22.4 s，机器人将持盒末端向炉腔内部伸入；盒体被机械臂遮住，结合视频 25.5–27.0 s 撤手后装肉盒完整留在炉腔内的画面，将持盒入炉的首次成立时刻估为视频约 22.0 s，误差约 0.5 s；本节点允许持盒时成立。"
+     },
+     {
+      "t": 26.1,
+      "log_step": null,
+      "text_zh": "观察：视频 26.1–28.8 s，夹爪已离开保鲜盒，装肉盒留在炉腔底部；随后机器人只关门和操作右侧面板，未再取盒。"
+     },
+     {
+      "t": 34.8,
+      "log_step": 94,
+      "text_zh": "观察：log step 94 的最终检查打印 tupperware_in_microwave=True、meat_in_tupperware=True、gripper_far=True；log step 95 随后保存同一条 1042 步轨迹，评分器 reward.n_actions=1042、deterministic=1、replay_success=1，与视频终段关门、按键和撤手的顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda二指夹爪夹住浅色保鲜盒前缘，将盒从冰箱取出并送进微波炉，再张指撤手；视频取出及撤手前后可见盒子的转移，log step 85 的取出检查还记录了两指与盒缘的相对接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 6.5–20.5 s，移动底盘在夹爪持盒时后退、横移并接近微波炉，承载装肉盒的转运。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–30.6 s 可见上方微波炉��门向左敞开，白色炉腔暴露；装盒前炉门已经打开。"
+     },
+     {
+      "t": 30.8,
+      "log_step": null,
+      "text_zh": "观察：视频 29.4–30.8 s，机器人以夹爪接触门板并向炉体扫推，黑色窗门转回；视频 30.8 s 门贴合炉体，白色炉腔被遮住，此后到视频 34.8 s 未再次打开。"
+     },
+     {
+      "t": 34.8,
+      "log_step": 94,
+      "text_zh": "推断：画面不能量出归一化开度是否低于 0.005；log step 94 最终 door_closed=True，随后保存的轨迹经评分器确定性重放成功，支持视频约 30.8 s 起的贴合状态满足本节点阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 29.4–30.8 s，Panda闭合夹爪从敞开门的外侧扫推门板，使其转回炉体；未见两指夹住门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 29.4–30.8 s，机器人推门时底盘同时向右前方移动，支承机械臂完成关门。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.2,
+      "log_step": null,
+      "text_zh": "观察：视频 31.8–32.6 s，机器人调整夹爪朝向并移到微波炉右侧面板下部；视频 32.8–33.4 s，指端向该处推进按压，视频 33.8–34.8 s 夹爪后撤，炉门保持关闭。"
+     },
+     {
+      "t": 33.2,
+      "log_step": 94,
+      "text_zh": "推断：仅凭面板外观无法直接读取 turned_on。log step 94 在该次按压后打印 turned_on=True，最终 microwave_on=True 且 success=True；log step 95 保存此 1042 步轨迹，评分器确定性重放成功；结合视频按压动作将启动时刻估为视频约 33.2 s，误差约 0.4 s，终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频约 32.8–33.4 s，Panda夹爪指端向上方微波炉右侧控制面板下部的启动键处按压，随后撤离；按键触发由log step 94的设备开启检查及重放成功共同佐证。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人将装有鸡腿的保鲜盒从冰箱取出并送入微波炉，视频约 30.8 s 关门、视频约 33.2 s 按启动键，随后撤手；四个节点最终均成立，评分器确定性重放成功。观察：log step 94 检查成功，log step 95 保存 1042 步轨迹，log step 96 的模型过滤发生在保存之后，不改变已交付轨迹的成功结果。推断：无逐帧状态日志，搬运和送入时盒体部分受遮挡，入炉及启动时刻为画面上下文结合已交付运行检查的估计，门开度和夹爪距离的精确数值未由评分器报告。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点的时间与取值与视频一致（盒约22 s入炉、门约30.8 s关闭、约33 s按键），成功运行无失败层，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:44:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b6634a3f810260d47c41ab992a644cb893da531bfaf22acb4bcefa034dbed994",
+   "video_sha256": "53602ebf3820207723cdd9b96b1164998a9c4a94c09110660ffda1b810a6269a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy.json

@@ -0,0 +1,238 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1144,
+   "sim_steps": 2288,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 125.38,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.921,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.001,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy/replay.mp4",
+  "duration_s": 38.3,
+  "fps": 10.0,
+  "frames": 383,
+  "sha256": "26e7e8a5c54b83ccd13d70316d4cbd9cb73f0fa86e6c51ee01fa443fd7a8be15"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 棕色鸡腿落在浅色保鲜盒内，盒子放在打开的冰箱搁板上；视频 0.0–13.4 s 加密检查未见鸡腿离盒或盒子被提走。"
+     },
+     {
+      "t": 13.4,
+      "log_step": null,
+      "text_zh": "推断：视频 13.4 s 装肉盒仍留在冰箱，机器人随后空手驶离且未返回；因此鸡腿留盒关系延续至视频 38.2 s 末帧。末段冰箱已在画外，此处依据离开前的连续画面及后续无再操作推断。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.3 s 机器人底盘靠近冰箱，机械臂基本保持初始姿态；夹爪没有包夹盒壁，保鲜盒和鸡腿仍在搁板上。视频 3.4–13.4 s 盒子继续留在原处，机器人未带走盒子。"
+     },
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–28.0 s 机器人空手驶向上方微波炉；视频 28.0–38.2 s 炉腔内可见白色圆盘，未见装肉保鲜盒。成功参照视频 26.0–29.0 s 的装肉盒在相同炉腔区域清楚可见，仅用于识别达成外观。"
+     },
+     {
+      "t": null,
+      "log_step": 151,
+      "text_zh": "观察：log step 151 的最终脚本新建会话、运行取肉及夹盒序列后保存 1144 个动作；log step 153 仅核查文件形状和有限值。评分器字段 n_actions=1144、deterministic=1、replay_success=0，与所交轨迹对应；日志中的交互末端位置不替代视频中的实际取放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.3 s Omron底盘承载机械臂靠近冰箱，视频 13.4–28.0 s 继续空手驶向微波炉；这是装盒步骤实际发生的移动支承。未见Panda夹爪夹住盒子，不把日志中直接改写状态后的接触当作本次实际抓握。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0–38.2 s 上方微波炉黑色窗门一直向左敞开，白色炉腔持续暴露；机器人未推门或握把手，视频 37.1–38.2 s 逐帧检查仍未关门。成功参照视频 31.0 s 则可见窗门遮住炉腔。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.2,
+      "log_step": 151,
+      "text_zh": "观察：视频 28.0–38.2 s 机器人夹爪未到右侧控制面板按启动键，炉门一直敞开；最终脚本在插入动作后即保存，没有关门或按启动键阶段（log step 151）。"
+     },
+     {
+      "t": 38.2,
+      "log_step": null,
+      "text_zh": "推断：依据DAG的开门断电规则，结合视频 28.0–38.2 s 炉门大幅敞开及无启动操作，设备开启条件未成立；屏幕有字本身不作为开机证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "value": null,
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 3.3,
+   "log_step": 151,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.3 s 机器人结束最初靠近后退开，夹爪仍为空，装肉盒未离开冰箱搁板；至视频 13.4 s 仍未取到盒子，随后空手驶往微波炉，视频 38.2 s 炉腔仍无盒。断点是装肉盒入炉步骤的取盒阶段，之后没有修复；log step 151 的脚本也将该阶段用于后续装盒。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.3,
+    "log_step": 151,
+    "evidence_zh": "观察：视频 0.0–3.3 s 机械臂没有向保鲜盒下降并夹住盒壁，视频 3.4–13.4 s 盒子连同鸡腿仍静置冰箱内；机器人后续空手移动，未建立搬运盒子所需的夹持接触。未见先抓住再滑脱，故不采用agent在log step 154自述的滑脱说法。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "note_zh": "控制脚本实现错误：逆解函数在实时仿真状态上求正运动学且未恢复原关节状态，执行函数可能直接判定目标已到达。",
+    "evidence_zh": "推断：log step 132 的 Ctl.fk 直接写 self.d.qpos；solve_ik 最后再次 fk(r.x)，refresh_data 只重新引用同一 s.data 并调用运动学，没有恢复原状态；紧接的 ramp 读 q_arm，若已等于目标便在 s.step 之前返回。log step 151 的最终 go 直接串接 solve_ik 与 ramp，因此在交互会话中改写的机械臂姿态可能没有形成可重放的关节动作；与视频 0.0–13.4 s 机械臂基本保持初始姿态、盒子未被夹取，以及视频 28.0–38.2 s 空手停在炉前一致。这是agent控制代码的状态管理错误；log step 154 关于全部抓法不可行的自述不能排除合法方案，亦不能证明任务或环境故障。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，无法数值复核接触对、门归一化开度及夹爪到盒子的终态距离，两项原生指标的评分器数值均未报告。装肉盒在视频 13.4 s 后逐渐离开视野，鸡腿留盒的终态依据最后可见状态及机器人未返回推断；逆解代码导致动作缺失的机制由日志代码和重放画面联合推断，未获得交付动作数组逐列数值。"
+ },
+ "summary_zh": "观察：本次评分视频只保持了开局的鸡腿留盒关系；机器人未从冰箱夹取保鲜盒，空手驶到微波炉前，视频 38.2 s 末帧炉腔为空且炉门敞开，最终为 1/4 个节点。推断：断点在保鲜盒入炉步骤的取盒阶段，所需夹持未建立；log step 132、151 显示逆解直接改写实时关节状态而未恢复，随后执行函数可能跳过动作，解释了重放中机械臂基本保持初始姿态。推断：鸡腿留盒的末态因视频后段冰箱在画外而由连续上下文判断，缺少状态日志及原生距离、门开度数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点和现象与视频一致：鸡腿留盒保持，保鲜盒始终未离开冰箱，终帧炉腔无盒且炉门敞开；根因标为推断并附日志代码证据，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:44:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ce85234cf371aac3c5fa266d1491e282a2389e1123e6cec6532f841593271efa",
+   "video_sha256": "26e7e8a5c54b83ccd13d70316d4cbd9cb73f0fa86e6c51ee01fa443fd7a8be15",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4.json

@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "deterministic": 1,
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+   "peak_gpu_memory_gb": 0.0,
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+   "peak_processes": 13,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4/replay.mp4",
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+  "fps": 10.0,
+  "frames": 330,
+  "sha256": "3454293acd824f238a956f01f595ed15b6ed404cf5504087857fe2bf084e6920"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–8.5 s，棕色鸡腿与浅色保鲜盒一起静置在冰箱同一层架上；机器人夹爪未把盒子带走，也未把鸡腿拨出。"
+     },
+     {
+      "t": 32.9,
+      "log_step": 68,
+      "text_zh": "推断：视频 8.5 s 后机器人空手离开冰箱，之后一直操作微波炉、未返回取盒；结合 log step 68 保存的这次轨迹中盒与肉的初末位置均未变（水平中心距打印为0.026米），鸡腿留盒关系从开局保持至终帧。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–5.8 s，机器人夹爪停在装肉盒上方，盒子仍在原层架上；视频 6.0–8.5 s 手臂撤回并随底盘离开时，夹爪为空、盒与鸡腿仍留在冰箱。"
+     },
+     {
+      "t": 32.9,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–22.0 s 炉腔及白色转盘可见且没有装肉盒，视频 24.0–32.9 s 的空手操作之后炉腔仍空；成功参考视频 27.0 s 的转盘上则能清楚看到装肉盒，本次未出现该入炉结果。"
+     },
+     {
+      "t": null,
+      "log_step": 68,
+      "text_zh": "观察：log step 68 的控制器执行后打印盒子初末位置同为[4.150,-0.564,1.024]，inside=False，check success=False，随后保存2300步；评分器 n_actions=2300、deterministic=1、replay_success=0，与视频所见空手转运及空炉腔一致。此处只核对交付对应关系，不将控制步数换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.0–5.8 s，Panda夹爪尝试取盒但未夹住目标；指端与冰箱结构的局部接触被臂体遮挡，无法确定实际接触方式，不能将空合标为已抓握保鲜盒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.0–18.0 s，Omron底盘后退、转向并从冰箱驶至微波炉前，承载机械臂；机器人空手，未承载装肉盒。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s 起上方大微波炉门向左敞开；视频 24.3–28.8 s 机器人夹爪移至门上缘作推扫，门略向更大开度转动，未回到贴合炉体的位置。"
+     },
+     {
+      "t": 32.9,
+      "log_step": 68,
+      "text_zh": "观察：视频 32.0–32.9 s 逐帧可见黑色炉门仍向左伸出，白色炉腔和转盘完全敞露；log step 68 保存轨迹末端打印 closed=False，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 24.3–28.8 s，Panda夹爪在敞开炉门的上缘处作推扫，门略向外转而未关上；未见夹爪握住把手。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 29.3–31.9 s，机器人将张开的夹爪移到上方微波炉右侧���制面板区域并前伸，炉门全程仍敞开；画面无法辨认具体按钮是否受压。"
+     },
+     {
+      "t": 32.9,
+      "log_step": 68,
+      "text_zh": "推断：视频 32.0–32.9 s 炉门仍明显敞开，按任务的开门断电规则无法保持开启；log step 68 对保存轨迹的末端打印 on=False、closed=False，与该可见状态一致，故启动节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 29.3–31.9 s，Panda夹爪到右侧控制面板前作按键尝试，但分辨率及手部遮挡使指端是否压到启动按钮无法确认，不把接近按钮记为已发生按压。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 2.5,
+   "log_step": 68,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.0–5.8 s 机器人取盒时夹爪停在盒子上方，盒子未抬起；视频 6.0–8.5 s 机器人撤手后，装肉盒仍在冰箱原处，随后空手驶往微波炉。log step 68 的保存轨迹打印取盒阶段 lifted dz=0.0、末端 inside=False；此最早失败之后未重新抓取或完成入炉，后续关门及按键动作未修复它。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.5,
+    "log_step": 68,
+    "evidence_zh": "观察：视频 1.0–5.8 s 机器人夹爪在装肉盒上方闭合、停留，未夹住盒边；视频 6.0–8.5 s 夹爪撤离后为空，盒与鸡腿仍在层架。log step 68 同一次保存运行打印 finger=0.0008 而 lifted dz=0.0，支持所需抓持接触从未建立，而非抓住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 68 的取盒控制打印目标抓取点 Cg=[4.044,-0.708,1.024]，而 at walls 末端为[4.041,-0.845,1.400]、conv=False，之后仍闭爪并执行抬起与转运动作，盒子高度增量为0.0；视频 1.0–8.5 s 同样显示末端未落到盒边且空手离开。因此取盒控制未实现所需末端位置及抓持，造成入炉步骤失败。现有证据不能进一步区分碰撞阻挡、逆解或跟踪问题，保留控制大类。"
+   }
+  ],
+  "gap_zh": "本任务没有逐帧状态日志；视频为320×240单视角，取盒时指端与冰箱结构的接触、按键时具体按钮接触不清楚，未把agent在log step 69自述的“冰箱前板阻挡”当作已证实碰撞。视频转向后不再直接显示冰箱中的盒与鸡腿，鸡腿终态由此前未移动、机器人未返回及保存运行的初末位置联合推断；评分器未报告两项原生指标的数值，均留null。2300个控制步与33.0秒视频缺少可核实的换算关系，所有视频锚点均取自画面。"
+ },
+ "summary_zh": "机器人只维持了开局已成立的鸡腿留盒关系，最终为1/4；保鲜盒从未离开冰箱，微波炉门始终未关上，也未启动。最早未修复的失败发生于视频约2.5 s的取盒阶段：夹爪未到达盒边并建立抓持，随后空手执行转运及炉前操作，证据支持控制失败。无逐帧状态日志且局部接触被遮挡，不能把具体阻挡位置或按键接触认定为事实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（取盒阶段，视频约2.5 s）、没建立接触现象与控制根因均与视频和log step 68一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a196567ba8d145081b87dda8bace5881fbc1739b212669b9e88f83e664d13e24",
+   "video_sha256": "3454293acd824f238a956f01f595ed15b6ed404cf5504087857fe2bf084e6920",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--vawufzv",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 2820,
+   "sim_steps": 5640,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 222.88,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.894,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.834,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv/replay.mp4",
+  "duration_s": 31.5,
+  "fps": 10.0,
+  "frames": 315,
+  "sha256": "5cbdbd360fe54bc77cafddf0aad08f199d7da246f1d515f1f4cad5543bd51db9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱敞开，棕色鸡腿位于浅色保鲜盒内；视频 18.0–20.0 s 可见机器人携带该装肉盒离开冰箱，视频 24.9–25.3 s 鸡腿仍随盒被抬向炉口。"
+     },
+     {
+      "t": 31.4,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–31.4 s 可见装肉盒留在上方炉腔底部，鸡腿仍在盒内，未见鸡腿与盒体分离或掉出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 18.0–25.3 s，Panda夹爪持浅色保鲜盒，盒体从下方承托鸡腿一起转运；未见夹爪直接夹鸡腿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–24.5 s 随身视角从冰箱转向微波炉，Omron底盘移动时承载机械臂及盒内鸡腿。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": null,
+      "text_zh": "观察：视频 24.9–25.3 s 装肉保鲜盒从画面右下方随机器人夹爪升至炉口，视频 25.4–26.7 s 夹爪向炉腔内送盒，盒体暂被门板和夹爪遮挡。"
+     },
+     {
+      "t": 27.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 25.4–26.7 s 的送入动作、视频 27.0 s 空爪开始离开及视频 27.4–31.4 s 装肉盒留在炉腔底部，保鲜盒入炉约在视频 26.5 s 达成并保持；首次满足八角内腔容差的时刻被遮挡，时间误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.0–25.3 s，Panda二指夹爪夹着盒沿搬运装肉盒；视频 25.4–27.0 s 送入炉腔并松爪，之后盒子留在炉内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–24.5 s 底盘承载持盒机械臂，从冰箱旁移动到上方微波炉前。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": 12,
+      "text_zh": "观察：视频 20.0–24.8 s，机器人尚未装盒，上方微波炉黑色门板已向外敞开、白色炉腔可见；log step 12 读取的场景初始化代码也包含打开微波炉门。"
+     },
+     {
+      "t": 29.0,
+      "log_step": 143,
+      "text_zh": "观察：视频 26.8–29.4 s，机器人空爪从门把手附近及炉口右上方移动，门板仍向外伸出；视频 30.5–31.4 s 的末秒逐帧画面仍显示炉腔敞开，没有出现oracle视频约31 s所见的黑窗门贴合炉体状态。log step 143 的末段脚本明确尝试推门，不能把该脚本的目标当成已经关上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 27.0–29.4 s 机器人用空爪执行关门尝试，但夹爪与门板或把手之间的局部接触被门板和腕部遮挡，不能确认实际触门方式；未见有效夹住把手或持续推合门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 26.8–27.6 s 装盒后视角随底盘移位，机器人调整关门工作位置。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.6,
+      "log_step": 143,
+      "text_zh": "观察：视频 29.6–31.4 s 机器人继续移动空爪至炉口及控制面板附近，但未见门合上或明确压中启动键；log step 143 的交付末段脚本包含按启动键的动作。"
+     },
+     {
+      "t": 31.4,
+      "log_step": 87,
+      "text_zh": "推断：视频 27.0–31.4 s 门保持大幅敞开，结合log step 87 读取的微波炉逻辑（门处于打开状态时turned_on被置为false），末帧设备未启动；视频中有字的显示屏不能作为开机证据。没有观察到满足本节点判据的关门后启动状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 29.6–31.4 s 机器人空爪向炉口/控制区伸出并回撤，按键部位与指端的实际接触不可辨，不能确认是否压到启动键或其接触方式。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "microwave_door_closed",
+   "t": 28.4,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 27.0 s 装肉盒已留在炉腔，机器人开始空爪操作；视频 28.4–29.4 s 末端在炉口右上方停留，未把外伸的门板带回炉体，视频 31.4 s 门仍大幅敞开。log step 143 记录的末段脚本尝试推门后继续执行按键，关门这一步在交付视频中始终未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 28.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频 27.6–28.2 s 空爪退向右下方，视频 28.4–29.4 s 又升到炉口右上方，而敞开的门把手仍在其左侧，门没有随该动作转回关闭位置；视频 31.4 s 门板仍向外伸出。机器人关门操作的末端位置和运动未达成所需闭合位姿。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 143 的脚本以门把手几何位置生成推门目标，并用逆解及位姿伺服驱动夹爪，说明关门目标明确；但视频 28.4–29.4 s 末端停在炉口右上方，门不随动，至视频 31.4 s 仍未闭合。因此归为关门动作的控制失败。没有足够接触或跟踪数据进一步区分接触设计、逆解及反馈控制。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "输入没有逐帧状态日志；装盒过程中门板遮挡盒体，首次满足内腔八角容差的时间约有0.5秒误差。关门和按键时的指端接触点不可辨，无法确认接触对、力及更细控制根因；设备最终关闭由敞开门与日志中的设备逻辑推断。log step 136 的inside/meat/door/on/far读数来自较早的2872动作测试，log step 149确认最终交付为2820动作，故未把较早测试读数当成本次终态或视频时间。",
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": true,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  }
+ },
+ "summary_zh": "鸡腿留盒从开局保持，机器人把装肉保鲜盒送入上方微波炉并留在炉腔，最终满足2/4个节点。断点是关上微波炉：空爪操作未把门带回关闭位置，门持续敞开，设备也未启动；证据支持控制失败，但不足以细分。无逐帧状态日志，装盒时刻及门/按键局部接触有遮挡，较早会话测试的状态打印未用于替代交付视频。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点进度（盒入炉达成、门未关、未启动）、断点（关门）与控制类根因和视频一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:43:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "63ac112e06a8d88fe87db82886f1562eaa646b2eacc536ef16916ecb83a05edc",
+   "video_sha256": "5cbdbd360fe54bc77cafddf0aad08f199d7da246f1d515f1f4cad5543bd51db9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq.json

@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 3000,
+   "sim_steps": 6000,
+   "video_rendered": 1,
+   "final_reward": 0.0,
+   "verifier_wall_s": 373.55,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.777,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq/replay.mp4",
+  "duration_s": 30.1,
+  "fps": 10.0,
+  "frames": 301,
+  "sha256": "93d71ef58f95badb34b3f87d6fd8d1b448ca6393e6786e4d4cea8293a2b30700"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频开局装肉保鲜盒位于冰箱搁板上；视频 1.0、6.5、8.0、10.0、12.0 s 的无遮挡部分均可见棕色鸡腿留在浅色盒中，盒子没有被提离搁板。"
+     },
+     {
+      "t": 12,
+      "log_step": null,
+      "text_zh": "推断：视频 12.0 s 后机器人空手离开冰箱并操作微波炉，未再接近盒子；结合此前盒与鸡腿始终静置，鸡腿留盒关系持续至视频 30.0 s 末帧。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.2–4.8 s 机器人夹爪停在盒子前上方；视频 5.0–8.0 s 机械臂回撤时未带走盒子，视频 8.0–12.0 s 装肉盒仍清楚位于原冰箱搁板。"
+     },
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–18.4 s 上方微波炉内只有白色转盘，机器人没有携盒进入炉腔；与 oracle 视频 27.0 s 转盘上可见装肉盒的已达成外观不同。本次没有完成保鲜盒入炉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.2–4.8 s Panda夹爪在保鲜盒前上方尝试夹取，但手腕遮住指尖与盒边，不能确认是否有短暂触碰及其方式；视频 8.0 s 已可见夹爪空手，不能标成实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 9.3–16.0 s Omron底盘移动并转向，使机械臂从冰箱区域移到微波炉前；实际承载的是空手机械臂，保鲜盒仍留在冰箱。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.4,
+      "log_step": null,
+      "text_zh": "观察：视频 18.8–20.0 s 机器人用夹爪推上方微波炉门，黑色门板从敞开转向炉体；视频 20.0–24.0 s 门仍向外斜伸，未贴合炉体。"
+     },
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 24.4–30.0 s，尤其视频 29.0、29.2、29.4、29.6、29.8、30.0 s；门右侧持续突出于面板，留有明显开度，未达到几乎无缝贴合的关闭判据。oracle 视频 31.0–34.5 s 的已关闭门与炉框贴合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 18.8–20.0 s Panda夹爪抵推微波炉门板并使其转动，未见二指夹持门把手。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 27,
+      "log_step": null,
+      "text_zh": "观察：视频约 24.6–28.4 s 机器人把夹爪伸向右侧控制面板，随后撤手；手腕遮挡局部按键，屏幕外观不能单独区分设备是否开启，视频 30.0 s 无可辨认的运行指示变化。"
+     },
+     {
+      "t": null,
+      "log_step": 101,
+      "text_zh": "观察：log step 101 的最终生成脚本输出 after press: on=False，但脚本运行到 control_steps=3290 后仅保存前3000条动作；该输出没有给出对应保存末帧的设备状态，不���直接移作视频终态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 24.6–28.4 s 夹爪在微波炉右侧控制区操作，局部按键及接触点被手腕遮住，不能确认实际压到启动键、其他键，或只靠近。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 4.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 4.8 s 机器人结束冰箱内的夹取停留并开始回撤，视频 6.5–12.0 s 装肉盒仍在原搁板、夹爪未携盒；之后机器人空手移至微波炉，视频 18.4 s 炉腔仍空。首次未修复的失败发生在保鲜盒入炉步骤的夹取阶段。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 2.2–4.8 s 机器人夹爪在盒前停留，视频 5.0–8.0 s 回撤时盒子不随夹爪移动，视频 8.0–12.0 s 盒子和鸡腿仍静置在原搁板。推断：未建立能夹持并提走保鲜盒的抓取接触；不是已经拿起后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 97 的脚本将最终夹取目标设为 [4.13,-0.48,1.13]，log step 100 的最终生成运行在闭爪前后末端实测约 [4.133,-0.628,1.143]，位置未到目标，盒坐标始终约 [4.15,-0.564,1.024]；视频 2.2–4.8 s 的停滞及视频 8.0–12.0 s 空手回撤与此相符。推断：控制器没有完成夹取所需的末端定位与抓取接触；没有足够证据进一步区分轨迹、反馈或接触几何子类。",
+    "source_zh": "日志 / 视频",
+    "log_step": 100
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无逐帧状态日志。夹取阶段指尖与盒边局部遮挡，不能判定短暂触碰方式；末段启动按钮接触及设备 turned_on 没有可辨认的视觉指示，故启动节点保留未知。log step 101 的 after press: on=False 属于运行至3290步、只保存前3000步的生成会话，未据此给视频末帧赋值；日志中其他测试接触也未作为本次视频的接触事实。门开度和夹爪到盒距离原生数值未报告，native_metrics 留空值。"
+ },
+ "summary_zh": "观察：本次交付视频中鸡腿始终留在盒内，但机器人未夹起保鲜盒，装肉盒仍在冰箱，保鲜盒入炉步骤在视频约 4.8 s 的夹取阶段失败且未修复。机器人随后空手移动到微波炉，推门后仍留明显开度，再到右侧控制区操作；最终确认1/4节点成立、2个未成立、启动状态未知，评分器判失败。推断：夹取末端定位与接触控制未完成是主要原因；没有逐帧状态日志，按键触发与部分接触被遮挡。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（保鲜盒入炉·操作中，约视频4.8 s）、现象（没建立接触）与根因（控制）均与视频和日志一致；门在视频30 s仍明显斜开，未见需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "effort": "high",
+  "created": "2026-10-30T02:42:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "186f94fb740af4f63fa9781f06eb9aeb91cf42ece9542a5b39b3bc399616b17b",
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+   "video_choice": "HF replay.mp4"
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+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
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+   "deterministic": 1,
+   "replay_success": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "n_actions": 1880,
+   "sim_steps": 3760,
+   "video_rendered": 1,
+   "final_reward": 1.0,
+   "verifier_wall_s": 249.62,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 7.918,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.838,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy/replay.mp4",
+  "duration_s": 31.5,
+  "fps": 10.0,
+  "frames": 315,
+  "sha256": "cda022564b7527e0122f77c628dc6718ee72dd39a222800b5dd479d5ac8eeda6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色鸡腿位于冰箱层板上的浅色保鲜盒内。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频 19.2–20.4 s 和视频 22.2–25.4 s，机械臂移开后可见棕色鸡腿仍在同一浅色盒内，盒子已留在炉腔底部；搬运中部分时段被机械臂遮挡，未见鸡腿掉出。"
+     },
+     {
+      "t": 31.4,
+      "log_step": null,
+      "text_zh": "推断：视频 25.4 s 后机器人只关门和按键，至视频 31.4 s 未见重新开门或取出；评分器 reward.success=1、replay_success=1、deterministic=1 支持该目标终态仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "Panda夹爪持保鲜盒搬运，盒体从下方承托鸡腿；视频 0.0 s 与视频 19.2–25.4 s 的前后画面支持鸡腿随盒转移，未见夹爪直接夹持鸡腿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 4.5–18.5 s，Omron底盘从冰箱前退开并移向微波炉，承载机械臂、所持盒子及盒内鸡腿。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0–18.8 s，机器人持盒向已打开的上方微波炉内送入并降低末端；视频 19.2 s 手臂侧移后露出位于炉腔内的装肉盒。入炉起点估为视频 18.5 s，因手臂遮挡约有 0.5 s 的不确定性；此节点允许持盒时成立。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频 19.4–20.4 s 及视频 22.2–25.4 s，浅色盒连同鸡腿留在炉腔底部，机器人空爪撤离，未见盒子跨在炉口或随手带出。"
+     },
+     {
+      "t": 31.4,
+      "log_step": 136,
+      "text_zh": "推断：视频 27.0–31.4 s 炉门保持关闭，盒子未被取出；评分器 reward.success=1 确认终态包含盒子入炉及夹爪远离的联合条件。log step 134、136 是对交付文件的两次独立重放核验，均打印 container_inside、meat_inside、gripper_far 为 true，与视频动作顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda二指夹爪夹住保鲜盒前侧边缘，将盒子从冰箱中带出并送入上方微波炉；视频约 19.2–21.6 s 松开、后撤，视频 22.2 s 后盒子仍留在炉内。搬运中抓握点多被腕部遮挡，夹持搬运由物体前后位置及随手转移判断。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 4.5–18.5 s，Omron底盘持盒退出冰箱区域、横向移至炉前并靠近炉口，支撑机械臂及装肉盒。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–25.4 s，微波炉黑色窗门仍向左伸出，装肉盒可见，门尚未关闭。"
+     },
+     {
+      "t": 27.0,
+      "log_step": null,
+      "text_zh": "观察：视频 25.5–27.0 s，机器人以合拢的夹爪顶推门板靠近把手的一侧，门沿铰链旋回；视频约 27.0 s 黑色窗门贴合炉体，白色炉腔被遮住。"
+     },
+     {
+      "t": 31.4,
+      "log_step": null,
+      "text_zh": "推断：视频 27.0–31.4 s 门保持贴合、未再打开；0.005 的归一化开度阈值无法由像素直接量出，评分器 reward.success=1 确认终态满足该阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 25.5–27.0 s，Panda合拢的夹爪从门板外侧持续顶推靠近把手的部位，使门沿关闭方向旋转；未见两指从把手两侧包夹，不标抓握。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      30.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–29.4 s，机器人将合拢夹爪移至微波炉右侧控制区下部；视频 29.5–30.3 s 指端朝面板推进按键，随后视频 30.4–31.4 s 向后撤回，炉门保持关闭。"
+     },
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "推断：将设备启动起点估在视频 30.0 s，按键动作及最终评分器 reward.success=1、replay_success=1 支持设备已开启；画面显示屏不能单独证明 turned_on，具体触发帧有约 0.5 s 不确定性。"
+     },
+     {
+      "t": 31.4,
+      "log_step": 136,
+      "text_zh": "观察：inputs/run.json 的 log step 134、136 对最终交付的 1880 行动作分别重放，均输出 check.success=true、microwave_on=true，且末态散列一致；评分器最终 reward.deterministic=1。上述为交付核验佐证，视频时刻取自画面，不由 agent 工作时间换算。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频约 29.5–30.3 s，Panda合拢夹爪的指端压向上方微波炉右侧下部启动键，之后撤回；该动作改变设备开关状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人将原已装有鸡腿的保鲜盒从冰箱搬入上方微波炉，随后推门关闭、按启动键并撤手，最终四个目标均成立；评分器确认重放成功且确定性一致。入炉约在视频 18.5 s、关门约在视频 27.0 s、启动约在视频 30.0 s，鸡腿留盒从视频 0.0 s 连续计入。没有逐帧状态日志，搬运时物体及入炉起点部分受机械臂遮挡，设备开启和门开度阈值结合成功判分确认；评分器未报告两项原生指标的数值，故保留为 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，四个节点的终值、时间（入炉约视频18.5 s、关门约27.0 s、启动约30.0 s）与帧一致，接触标签合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:42:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6cfad4e79a631334fe8cf7b68427e66113be995d0a85c075f1400b2189949f20",
+   "video_sha256": "cda022564b7527e0122f77c628dc6718ee72dd39a222800b5dd479d5ac8eeda6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-standard--bjn9aub",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 6170,
+   "n_actions": 6170,
+   "sim_steps": 6170,
+   "calls": 232,
+   "elapsed_s": 2305.0,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.337,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.097,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub/replay.mp4",
+  "duration_s": 31.0,
+  "fps": 10.0,
+  "frames": 310,
+  "sha256": "790d42732cc27de7e3481ef97fe86fa4d5774b91a0afec5939abd48dd712f3bb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色鸡腿位于浅色保鲜盒内，盒子放在敞开冰箱的层板上。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.6 s、16.8 s、25.4 s、29.4–29.8 s，夹爪让开后鸡腿仍在盒内；视频 30.0–30.9 s 机械臂遮住盒口，未见鸡腿掉出。"
+     },
+     {
+      "t": 30.9,
+      "log_step": null,
+      "text_zh": "推断：结合各次遮挡前后的盒内鸡腿位置及末段未发生取出搬运，鸡腿留盒关系保持至终态；不因夹爪短时遮挡而拆分区间。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–14.6 s，Panda夹爪在冰箱内向装肉盒伸入、下探并撤回，盒子仍在原层板上。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.6–23.0 s，机器人反复探入盒口并转动腕部，盒子在冰箱层板内发生偏移和偏转，没有被带到炉前。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频 25.4 s、27.8 s、29.4–29.8 s，装肉盒仍在冰箱层板上；视频 30.0–30.9 s 最后一次下探和抬手仍未带盒离开冰箱。"
+     },
+     {
+      "t": null,
+      "log_step": 103,
+      "text_zh": "观察：log step 91 的控制脚本记录把搬运入炉、关门和按启动列为尚未执行的计划；log step 103 的agent最终报告也称盒子仍在冰箱层板上，与已检查视频相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 14.3 s、22.2–23.0 s，Panda指部探入盒口、碰拨盒缘，盒子在层板内偏移和转动；未确认可持续承载盒子的对向夹持，因此不把闭爪命令本身记作抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 3.0–13.8 s，Omron底盘绕冰箱门移动、查看炉前后返回取盒；视频 25.6–26.0 s 等后续取盒调整中底盘继续移动并承载机械臂，未载盒转运。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "观察：视频 6.2–7.0 s，炉灶上方大微波炉的黑白门板向外伸出，内侧白色炉腔部分可见，门未贴合炉体；台面上的小设备不是目标微波炉。"
+     },
+     {
+      "t": 30.9,
+      "log_step": 91,
+      "text_zh": "推断：视频 7.2–30.9 s 机器人返回冰箱并持续取盒，未再到上方微波炉门前推门或拉把手；结合视频 6.2–7.0 s 的敞开门态，关门关系从未建立。log step 91 也把关门列为后续计划。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.4,
+      "log_step": null,
+      "text_zh": "推断：视频 6.2–7.0 s 上方微波炉仍敞开，按任务规则开门��设备关闭；此时未满足启动状态。"
+     },
+     {
+      "t": 30.9,
+      "log_step": 91,
+      "text_zh": "推断：全片机器人只查看炉前后返回冰箱取盒，未出现oracle视频约 31–34 s 那样在上方微波炉右侧控制面板按键的动作，也未关上炉门；结合log step 91 尚待执行的关门、启动计划，设备未启动。此判断不是从总奖励为零反推。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 14.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.1–14.4 s，机器人在冰箱内为入炉步骤取盒，腕部贴着上方层板前缘，夹爪下探未将装肉盒取起；随后反复换姿和闭爪，至视频 29.8 s 盒子仍在冰箱层板内，视频 30.0–30.9 s 末次尝试也未取出。推断：该取盒失败一直未修复，故断点属于保鲜盒入炉，而非尚未开始的关门或启动。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 14.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.1–14.4 s，Panda腕部和夹爪上部贴到目标盒上方的冰箱层板前缘，下探后又撤回，装肉盒仍留在下方层板；视频 22.2–23.0 s 的换姿又碰拨盒子使其偏转，未将盒取出。推断：取盒动作受固定层板的接触阻挡，伴随对盒子的非预期碰拨。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：取盒控制未能在冰箱层板间实现要求的接近和撤出动作。观察：视频 14.1–14.4 s 的腕部受阻与后续反复换姿、盒子未取出相符；log step 45 的控制输出目标末端位置为[4.146,-0.662,1.04]米而实际为[4.055,-0.876,1.258]米，log step 72 连续打印IK FAIL仍执行关节运动；log step 14 定义的goto函数在逆解误差过大时仅打印警告，仍调用move_q。现有证据支持控制层失败，但不足以把全部受阻唯一归为接触几何、逆解或跟踪中的一种。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，视频只有低分辨率随身视角；盒口在视频 21–23 s 及30.0–30.9 s 部分被机械臂遮挡，不能确定短暂对向夹持及接触力，也不能独立量化鸡腿中心距、炉门归一化开度和夹爪至盒距离。故不把agent在log step 103 自述的短暂夹肉和失握直接标为已观察的没保持住，根因保留在控制大类。视频时间均从检查帧读取，未把agent工作时间或控制步数换算为视频时间；两项原生数值指标未在评分器字段中报告。"
+ },
+ "summary_zh": "鸡腿留盒关系从开局保持，终态为1/4；装肉盒始终未离开冰箱层板，上方微波炉未关门、未启动。机器人在保鲜盒入炉的取盒阶段受层板阻挡并反复换姿、碰拨盒子，控制日志同时显示明显末端偏差及失败逆解仍被执行，该步骤最终未修复。缺少逐帧状态及清晰盒口视图，短暂夹持和具体控制子因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对后标签与视频一致：鸡腿开局至终态留盒（1/4），装肉盒始终在冰箱层板内，微波炉门敞开未启动；断点、被挡/碰撞现象与控制根因有视频和log（step 45、72、103）支持，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:51:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aed6581d880579852bbc03f908c2268686d8438d7137d6169728c579fd461cae",
+   "video_sha256": "790d42732cc27de7e3481ef97fe86fa4d5774b91a0afec5939abd48dd712f3bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz.json

@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 14116,
+   "sim_steps": 14116,
+   "calls": 3996,
+   "elapsed_s": 3604.1,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.884,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.282,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz/replay.mp4",
+  "duration_s": 30.2,
+  "fps": 10.0,
+  "frames": 302,
+  "sha256": "dfc9985ad3d5770cb7b5d73a861e0c82ebd478ffa2cb9369dcbd6639bc1d4390"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.3 s，棕色鸡腿位于冰箱搁板上的浅色保鲜盒内，盒子未被夹爪夹起。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：视频 4.1 s 后冰箱门遮住盒子；视频 12.0–30.1 s 机器人主要在冰箱门外拉、推和空夹，未见夹爪带出盒子或鸡腿，也未见鸡腿掉出。结合开局容纳关系和全程没有成功取盒的画面，判鸡腿留盒关系持续至终态；遮挡后的精确接触不能数值复核。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.3,
+      "log_step": null,
+      "text_zh": "观察：视频 1.3 s 装肉盒仍在冰箱搁板上；视频 1.4–4.3 s 机器人空手移向右侧台面，冰箱门在机械臂经过时转回关闭，没有盒子随夹爪离开。"
+     },
+     {
+      "t": 21.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–23.7 s 机器人反复接近冰箱把手并拨动门板，门只短暂打开小缝后回转，未见保鲜盒从门内取出；视频 26.8–30.1 s 夹爪仍在关闭的冰箱门外活动。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见保鲜盒离开冰箱或进入上方大微波炉；台面小电器前的操作没有携带盒子，故保鲜盒入炉关系从未建立。此判断来自物体和夹爪的画面，不由 reward=0 反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 20.8–23.0 s，Panda夹爪在冰箱把手和门边拨推，门板随接触小幅摆动；这是取出装肉盒的准备操作，未见夹爪夹住保鲜盒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1.4–4.3 s、11.8–12.5 s 及后段，Omron底盘承载机械臂在冰箱与台面小电器前移动、调整停靠位置，全程未见持盒运输。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.1,
+      "log_step": null,
+      "text_zh": "观察：视频 4.1–9.6 s 画面右上方可见大微波炉向外伸出的黑色门板及浅色边框；机器人操作的是其左下方台面上的小电器，其黑窗保持在台面位置。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：视频 10.1–11.7 s 大微波炉的黑门仍伸出，随后机器人返回冰箱并至视频 30.1 s 都未到上方炉门处做合门动作；结合先前明确敞开的门板，判目标炉门未关闭。台面小电器的闭门外观不能计入该节点。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.1–11.7 s，机器人空夹爪在台面小电器前及右侧控制区探触，上方大微波炉门仍向外伸出；未见机器人接近上方大微波炉右侧启动面板。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：视频 12.0–30.1 s 机��人返回冰箱门外操作，目标大微波炉未合门，也没有启动键操作；按任务所述开门断电条件，判目标设备未启动。没有把小电器上的试探按键当作目标开机，也没有用显示屏外观独自判断开机。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 7.2 s 附近Panda夹爪前端触及台面小电器右侧控制区；log step 172–184 的脚本和agent自述将这些操作作为门释放或启动触发试探。实际对象是台面小电器，没有触及目标上方大微波炉的启动键；日志与视频时刻不作换算。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 1.4,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "观察：视频 0.0–1.3 s 装肉盒仍在冰箱搁板上，未见夹爪夹住盒子；视频 1.4 s 机器人空手转向台面小电器。视频 4.0–4.4 s 冰箱门转回关闭，但未见门阻断一次正在执行的取盒动作；此后视频 12.0–30.1 s 机器人虽多次拉推冰箱门及空夹，始终未见取出装肉盒，保鲜盒入炉这一步未得到修复。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1.4,
+    "log_step": null,
+    "evidence_zh": "推断：视频 0.0–1.3 s 装肉保鲜盒仍留在冰箱搁板上，未见夹爪夹住盒子；视频 1.4 s 机器人已空手转向台面小电器，没有盒子随夹爪离开。视频 12.0–24.0 s 后续冰箱门外的拨门操作及视频 26.8–30.1 s 的空夹也未见带出盒子，所需的夹爪与保鲜盒抓取接触始终未建立；没有先持盒再滑落的画面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "推断：log step 23 把约 [4.71,-0.44,1.12] 米的台面电器区域定位为 microwave，log step 163 又把约高 1.23 米的表面作为其顶部，随后 log step 172–184 对这一对象试按按钮。视频 5.1–11.7 s 确认机器人一直操作台面小电器，而同一画面右上方还有敞开的目标大微波炉门；成功参考视频 25–33 s 展示的是灶台上方大微波炉的装盒与关门。由日志所选对象与本轨迹动作判断，agent识别错了需要装盒和启动的电器；参考只用于辨认目标外观，不作为本次完成证据。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 505 的取盒脚本反馈末端停在 [3.875,-0.953,1.387] 米，目标却是 [4.108,-0.547,1.045] 米，仍执行夹紧，夹口仅约 0.19 厘米；log step 524、543 又记录同类数十厘米的未到位。log step 496、515 的脚本在 closed_loop_move 返回 False 后未中止夹紧、抬起和搬运流程。结合视频 26.8–30.1 s 夹爪始终在冰箱门外而无盒子的动作，说明末端到位及接触建立没有得到有效控制和验收；证据不足以进一步分清模型误差、阻挡和跟踪各自的贡献。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频 4.3 s 后鸡腿和保鲜盒主要被冰箱门遮挡，鸡腿继续留盒依靠前后动作与未见取出、掉落作推断。上方大微波炉只露出敞开的门板，末段不在画面内，设备未启动结合未合门、无目标按键操作及开门断电条件推断；两项原生数值指标未报告。log step 7 的 control_dt=0.05 s 与最终 14116 control_steps 对应的控制时长不能直接匹配 30.2 s 视频，且日志末段已报进入小电器开门阶段而视频末帧仍在冰箱前，因此不把日志阶段或agent时间换算为节点时刻；日志仅补充失败控制策略证据。"
+ },
+ "summary_zh": "装肉盒在视频开局仍放在冰箱内，鸡腿留盒关系推断保持，终态为 1/4；保鲜盒入炉、目标炉门关闭及目标设备启动均未完成。机器人未夹起盒子即在视频 1.4 s 空手移向错误的台面小电器，后续取盒动作也未建立抓取，日志显示脚本在末端明显未到位时继续夹紧搬运。盒内终态被门遮挡，目标设备状态及接触细节缺少状态日志复核，日志与视频没有可靠时钟映射。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（鸡��留盒终态 1/4，其余三项未达成）与视频一致，大微波炉在灶台上方、台面小电器为误操作对象（与 oracle 对照）。但断点处的 phenomena[0]「被挡/碰撞」缺乏阻挡接触的证据：视频只见冰箱门在机械臂/底盘移动时转回关闭，并不见门或其他物体挡住取盒动作；真正的失败是机器人空手离开、从未对盒子建立抓取。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（鸡腿留盒终态 1/4，其余三项未达成）、断点（保鲜盒入炉，视频 1.4 s 空手离开）、没建立接触现象与视频帧一致；两条根因有 log step 23/163/172/505/524 的原文支撑，且文件已声明日志与视频时钟不换算。未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:23:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a6fe0e1052e1d33f9a9290e278072cd61d9a95a969686dfb10406c2539c6e954",
+   "video_sha256": "dfc9985ad3d5770cb7b5d73a861e0c82ebd478ffa2cb9369dcbd6639bc1d4390",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu.json

@@ -0,0 +1,257 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-standard--qhuwamu",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "replay_success": 0,
+   "live_success": 0,
+   "finalized": 1,
+   "control_steps": 18036,
+   "sim_steps": 18036,
+   "calls": 3250,
+   "elapsed_s": 3138.9,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.34,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.113,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu/replay.mp4",
+  "duration_s": 30.2,
+  "fps": 10.0,
+  "frames": 302,
+  "sha256": "7dba8f1ae6a52c1e2f9307aeb70ff3589e657190e7045bc7be864ad96cf8a0b6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 可见棕色鸡腿位于浅色保鲜盒内，盒子在敞开的冰箱搁板上；视频 7.0–14.4 s、19.0–21.4 s、25.4–29.9 s 的无遮挡画面仍显示同一容纳关系，未见鸡腿掉出。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–3.0 s 夹爪尚未搬动装肉盒，首次清楚可见时鸡腿已在盒内，故从视频 0.0 s 计入；视频末段 29.0–30.1 s 盒子仍留在原搁板，最后的腕部遮挡没有伴随鸡腿或盒子被带走，判定该关系保持至结束。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.2,
+      "log_step": null,
+      "text_zh": "观察：视频 14.2–18.8 s 机器人把末端反复降到装肉盒上方及近侧，随后调整或撤回；装肉盒始终留在冰箱搁板，没有随夹爪抬起。"
+     },
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–28.8 s 机器人继续在冰箱内的盒子周围调整末端；逐帧检查视频 29.0–30.1 s，装肉盒仍在原搁板，最后机械臂空手抬离。全片未见盒子离开冰箱并送入上方炉腔。"
+     },
+     {
+      "t": null,
+      "log_step": 229,
+      "text_zh": "观察：log step 229 的最后机器人调用是张开夹爪并撤回机械臂，返回 control_steps=18036，与评分器总步数相同；log step 234 的 agent 最终报告承认盒子未被提起。该报告仅用于核对交付范围，未将 agent 工作时间或控制步数换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 15.2–18.8 s、20.0–28.8 s，Panda 二指夹爪在保鲜盒及鸡腿附近反复下降、调整，但腕部与盒沿遮住指尖接触位置，无法确定实际是碰到盒沿、鸡腿还是空夹；未观察到对盒子的对向夹持，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 6.0–14.2 s，Omron 底盘在尝试取盒过程中退让、平移并重新接近冰箱，承载机械臂完成取盒接近；盒子始终在冰箱内，未发生持盒转运。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–12.8 s 及29.0–30.1 s 的画面右上边缘可见向外伸出的黑色门板，机器人一直在冰箱附近操作，未执行上方微波炉关门动作；台面上另有一台黑窗小微波炉。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：用成功参考视频 11.0–12.0 s 的视角识别器具，可确认本次视频右上伸出的门板属于上方大微波炉；本次视频 30.1 s 该门板仍伸出，未贴合炉体，因此关门条件不成立。参考视频只用于辨认可见线索，不把其关门结果用于本次轨迹。"
+     },
+     {
+      "t": null,
+      "log_step": 234,
+      "text_zh": "推断：log step 234 的 agent 把高度约1.23米、位于台面的器具称为门已关闭的微波炉；��与DAG的上方大微波炉目标不符，不能据此把本节点记为真。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–30.1 s 机器人始终围绕冰箱及装肉盒调整，没有到上方微波炉的右侧控制面板按启动按钮；视频 30.1 s 右上门板仍向外伸出。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：目标上方微波炉的门未关闭，且机器人没有操作其启动键；按任务说明开门会关闭设备，故本次设备开启条件未成立。没有把台面小微波炉的黑窗或显示当作启动证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 15.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.2–18.8 s 机器人在冰箱搁板处尝试夹取装肉保鲜盒，末端反复下降和调整，但盒子没有随手离开原处；视频 20.0–30.1 s 的后续尝试也未夹起盒子。失败发生在保鲜盒入炉步骤所需的取盒操作，之后始终未修复。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 15.2,
+    "log_step": null,
+    "evidence_zh": "推断：视频 15.2–18.8 s 及20.0–30.1 s 机器人末端在盒子附近反复接近、离开，装肉盒始终没有被夹持带走；log step 170、175、220、224、227 的脚本均命令闭爪，相应打印的指关节位置接近闭合零位。结合撤手后盒子仍在原搁板，判为未建立搬运所需的有效夹持，而非持盒后滑落；指尖是否有短暂碰触仍不可见。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 227,
+    "evidence_zh": "推断：log step 170、175 的脚本以接近盒子的目标下降并闭爪，log step 220、224、227 又调整末端位置并重复闭爪；log step 227 的伺服输出误差仍约0.038–0.055米。视频 15.2–18.8 s、20.0–30.1 s 显示这些夹取操作一直没有形成可带走盒子的抓持，支持取盒执行的控制失败。现有证据不能可靠区分接触几何设计、轨迹求解或反馈控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供逐帧状态日志；腕部和冰箱结构遮住大部分指尖接触区，无法确定夹爪实际碰到盒沿、鸡腿还是仅空夹，contact_actual因此保留未知。上方炉体大部分在画外，门状态依据本次可见伸出门板与全片动作连续性推断，未获得门开度及turned_on的数值读数。agent 在 log step 233–234 声称夹爪开口小于盒宽及手指受阻，这些尺寸与阻挡未被独立核实，未据此细分控制根因；两项原生指标均未报告数值。"
+ },
+ "summary_zh": "本次保持了开局鸡腿留在保鲜盒内的关系，末态为1/4；装肉盒始终留在冰箱搁板，未入上方微波炉，其门仍敞开且未启动。机器人在取盒时反复接近、闭爪和撤回，未建立搬运所需夹持，断点为保鲜盒入炉步骤的操作中，根因证据支持控制失败。指尖实际接触被遮挡且无状态日志，不能细分抓取几何与轨迹/反馈问题；agent 关于台面小微波炉门已关闭的判断未用于目标上方炉门的节点判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（仅鸡腿留盒为真，盒入炉/关门/启动为假）、断点（tupperware_in_microwave，操作中）与现象「没建立接触」、根因停在「控制」均与视频、log step 227/229/233 及评分器 success=0 相符；未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:50:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dc3d0828b33ddf6ad3c2221b7b6903b7fcabf023eeef14118f9f61e033a2e194",
+   "video_sha256": "7dba8f1ae6a52c1e2f9307aeb70ff3589e657190e7045bc7be864ad96cf8a0b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 6299,
+   "n_actions": 6299,
+   "sim_steps": 6299,
+   "calls": 1446,
+   "elapsed_s": 3622.6,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.315,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.263,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5/replay.mp4",
+  "duration_s": 31.6,
+  "fps": 10.0,
+  "frames": 316,
+  "sha256": "9e78048b3284588370e116eebcae168f7d96e35032863196b6c3e71e12fe322e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕色鸡腿位于冰箱内浅色保鲜盒中央，盒子平放在搁板上。"
+     },
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–31.5 s 的动作中，机器人先空手驶离冰箱，后在灶台及下方小微波炉附近运动；未见夹爪携带盒子、鸡腿掉落或机器人回到盒子原处操作。因此鸡腿留盒关系按持续保持标注，后段原处不在视野内。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–14.0 s，上方大微波炉白色炉腔和空转盘可见，没有装肉保鲜盒；机器人夹爪空着。"
+     },
+     {
+      "t": 29,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–31.5 s，机器人夹爪在下方小微波炉前方升降、转动及开合，始终未见夹住保鲜盒或携带鸡腿；上方目标炉门仍伸出。"
+     },
+     {
+      "t": null,
+      "log_step": 79,
+      "text_zh": "观察：log step 79 的执行输出进入 B pick，但 s2 末端位置误差仍为 0.355 米，lift 误差约 0.375 米；这只是控制脚本的阶段名，视频未显示抓盒或搬盒成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–24.0 s，移动底盘承载机械臂从冰箱附近驶向灶台，多次转向和调整位置；机器人全程空手，未承载装肉盒。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–14.0 s，上方目标微波炉门向外敞开，白色炉腔暴露；与成功参考视频中合门后黑色窗门遮住炉腔的外观不同。"
+     },
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–31.5 s，上方目标微波炉敞开的门仍在画面右上方伸出，未转回贴合炉体；机器人末端主要在下方小设备前运动，未见推动目标门关闭。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "推断：视频 8.0–14.0 s 及 27.0–31.5 s，目标大微波炉门保持敞开，机器人没有完成目标右侧启动键操作；根据任务中开门断电的规则，目标设备没有达到开启状态。下方小设备前的手部运动不能替代目标启动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 29.0,
+   "log_step": 79,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 28.4–29.4 s，机器人在下方小微波炉附近执行空手抓取和抬升动作，夹爪内没有装肉盒；视频至 31.5 s 仍未见盒子被送入上方大微波炉。log step 79 的 B pick 输出也记录了抓盒末端持续偏离目标，此次未取到盒子的失败之后没有修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 29.0,
+    "log_step": 79,
+    "evidence_zh": "观察：视频 28.4–29.4 s，Panda夹爪开合并抬起时没有包住保鲜盒，后续视频 29.4–31.5 s 的运动仍为空手；没有出现先持盒再掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "log_step": 70,
+    "evidence_zh": "推断：agent 在 log step 22 把微波炉估计为台面附近 (4.75, -0.5)，log step 69–70 根据高度约 1.08 米的黑色前面板认定“门是关的”，并在 log step 70、77 将炉腔目标设于高度约 1.06 米。视频 8.0–14.0 s 清楚显示上方大微波炉已敞开，而视频 27.0–31.5 s 机械臂实际围绕下方关闭的小微波炉运动；结合成功参考视频对目标设备的外观确认，agent 将下方设备误认作应装盒的大微波炉。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "log_step": 79,
+    "evidence_zh": "推断：log step 77 的取盒程序给出 s2 目标 [4.155,-0.665,1.04]，log step 79 实测末端却停在约 [4.48,-0.53,1.07]、误差 0.355 米，仍按顺序执行闭爪和 lift，lift 误差约 0.375 米。视频约 28.4–29.4 s 的空手开合及抬升与此一致，说明末端未到取盒位置便继续动作；无足够证据进一步区分逆解、跟踪或接触阻挡。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有逐节点评分器读数。鸡腿和保鲜盒离开开局视野后未被再次清楚展示，其留盒末态依据初态及全程未成功接近、搬运盒子的动作推断；不能直接量化门开度、夹爪至盒子距离和设备 turned_on。log step 80 没有输出，不能仅据预写脚本认定其关门、按键各阶段均已执行；视频时间均取自抽查画面，未把 agent 工作时间换算为视频时间。",
+  "unmet": {
+   "drumstick_in_tupperware": true,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  }
+ },
+ "summary_zh": "本次评分轨迹仅保留开局鸡腿在保鲜盒内的关系，未完成装肉盒入炉，上方目标微波炉门始终敞开且未启动，末态为 1/4 个节点。机器人在取盒时未建立抓握；日志与视频共同支持其误认下方小微波炉，且取盒末端仍有较大位置误差便继续闭爪、抬升。缺少状态日志，鸡腿留盒末态由未受操作的初态关系推断，后段原处不在视野内。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（tupperware_in_microwave，操作中）、没建立接触、感知+控制两个根因与视频、log 一致：盒子始终在冰箱搁板区域，机器人空手驶离，上方大微波炉门全程敞开，下方小台面设备前有空手动作。仅 contact_actual 中把未发生的“抓握”记为实际接触需要修正。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（tupperware_in_microwave，操作中）、没建立接触、感知+控制根因与视频和 log 一致；第 1 轮的 contact_actual 问题已修正。视频显示上方大微波炉门全程敞开，机器人空手在台面小微波炉前动作，盒子始终在冰箱内。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:26:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "98ddc3fdc610c162c5b9c447b959c2db02a5e39ff8fcd0a2b7bfd50025884dd2",
+   "video_sha256": "9e78048b3284588370e116eebcae168f7d96e35032863196b6c3e71e12fe322e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robocasa365-microwave-defrost-meat-i00-standard--tn7qslq",
+ "taskKey": "robocasa365/microwave_defrost_meat",
+ "dag_sha256": "0a864b93d11e54f5ad0af088f5eb60bc83881c03aada217f9c91692e912e3677",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "initial_success": 0,
+   "finalized": 1,
+   "control_steps": 2317,
+   "n_actions": 2317,
+   "sim_steps": 2317,
+   "calls": 54,
+   "elapsed_s": 1400.4,
+   "final_reward": 0.0,
+   "video_rendered": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.596,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.292,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq/replay.mp4",
+  "duration_s": 33.2,
+  "fps": 10.0,
+  "frames": 332,
+  "sha256": "f455e5d8de2f8799053b1946ba0cc9c1c48d3942b8f7e9b2636e38e552a9c16a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "drumstick_in_tupperware": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      29.3
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕色鸡腿位于冰箱搁板上的浅色保鲜盒内；视频 10.0 s、18.6 s、21.9 s、24.2 s 仍可见该容纳关系。"
+     },
+     {
+      "t": 29.3,
+      "log_step": null,
+      "text_zh": "观察：视频 29.3 s 机器人撤回取盒时，棕色鸡腿从手臂旁向下掉落；视频 29.4–30.8 s 白色浅盒仍可见于夹爪下方，视频 29.9–30.8 s 尤其清楚，不能把鸡腿掉落描述为盒子同期坠落。视频 30.9–33.1 s 未见把鸡腿重新装盒，留盒关系约在视频 29.3 s 丢失；地面最终接触点被机器人遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "Panda夹爪夹持盒边尝试提取时，经保鲜盒底承托鸡腿；未见夹爪直接抓鸡腿。视频约29.3 s 鸡腿滑出盒子，盒子仍在手下；盒子后续是否及何时脱离夹爪被遮挡，无法精确确认。"
+     }
+    ]
+   },
+   "tupperware_in_microwave": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.2,
+      "log_step": 101,
+      "text_zh": "观察：视频 10.0–28.8 s 机器人在冰箱开口附近反复接近浅色盒边、闭合夹爪并尝试提取，视频 24.2 s 鸡腿和盒子仍在冰箱搁板处；没有把盒子运到灶台上方微波炉。"
+     },
+     {
+      "t": 29.3,
+      "log_step": 103,
+      "text_zh": "观察：视频 28.7–29.3 s 机械臂向外撤回，视频 29.3 s 棕色鸡腿掉落，白色浅盒在视频 29.4–30.8 s 仍在夹爪下方；视频 30.9–33.1 s 机器人仍在冰箱旁活动，没有携盒前往微波炉，也未见恢复装肉盒。log step 101、103 的调用在保持grip=1时试提和撤盒；log step 106 中agent自述盒子滑落，但画面不能确认盒子与鸡腿同时脱离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Panda二指夹爪多次闭合尝试夹盒沿，后以侧边夹持牵动盒子；视频约29.3 s 撤回时鸡腿滑出，白色浅盒至视频30.8 s仍在手下，盒子后续脱离时刻受遮挡无法确认，未送入微波炉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "Omron底盘在视频约2–10 s 绕开冰箱门并返回取盒位置，后又在取盒过程中调整站位，承载机械臂；未完成持盒驶往微波炉。"
+     }
+    ]
+   },
+   "microwave_door_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7,
+      "log_step": 42,
+      "text_zh": "观察：视频 7.0 s 画面上缘可见灶台上方大微波炉的白色炉腔与敞开的门，机器人随后回到冰箱取盒，直至视频 33.1 s 未操作该炉门；log step 42 中 agent 也辨认出上方微波炉原已打开。"
+     },
+     {
+      "t": 33.1,
+      "log_step": null,
+      "text_zh": "推断：对照 oracle 视频 28.0–30.0 s 大微波炉由白色敞口转为黑色门面覆盖的关闭外观，本次视频从未出现该关门操作；机器人最终仍在冰箱旁，因此该门保持初始打开状态。"
+     }
+    ]
+   },
+   "microwave_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.1,
+      "log_step": 124,
+      "text_zh": "推断：视频 0.0–33.1 s 未见机器人触按上方微波炉右侧启动键，微波炉门也未关闭；对照 oracle 视频 30.0–34.8 s 的右侧控制区操作，本次未进入该阶段。依据任务说明开门会关闭设备，设备未启动；log step 124 的 agent 最终报告任务未完成与此一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "microwave_door_normalized_opening",
+   "unit": "1",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "gripper_to_tupperware_distance",
+   "unit": "m",
+   "threshold": 0.25,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperware_in_microwave",
+   "t": 29.3,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 29.3 s，机器人仍在完成装肉盒入炉的取盒、撤盒阶段，棕色鸡腿从手臂旁向下掉落；白色浅盒在视频 29.4–30.8 s 仍位于夹爪下方。视频 30.9–33.1 s 未见重新装肉或把盒子送往微波炉；log step 103 执行保持闭爪的撤盒命令。盒子后续脱离夹爪的具体时刻被遮挡，不能标作视频29.3 s盒子坠落。"
+  },
+  "unmet": {
+   "drumstick_in_tupperware": false,
+   "tupperware_in_microwave": false,
+   "microwave_door_closed": false,
+   "microwave_on": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 29.3,
+    "log_step": 103,
+    "evidence_zh": "观察：视频约 29.3 s 机器人向外撤盒时，棕色鸡腿从盒子所在的夹爪/手臂旁掉落，未保持住盒内承托关系；视频 29.4–30.8 s 白色浅盒仍在手下，因此不是鸡腿与盒子同期坠落。log step 101–104 记录侧边夹持、试提与保持grip=1的撤回，没有在目标处释放的命令；视频 30.9–33.1 s 未见恢复鸡腿留盒关系，盒子后续失持时刻无法从遮挡中确定。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 101 的side_rim_pinched与side_lift_test调用选择侧边捏盒沿后试提，log step 102 的side_lift_test输出指关节读数约为0.0071和-0.0066；log step 103 随即以grip=1撤盒，log step 104 的读数约为0.0011和-0.0012。视频约29.3 s鸡腿在搬运过程中掉落，而视频29.4–30.8 s浅盒仍在手下，说明该侧沿抓取与承载布局未能稳定保持盒内负载；依据03_trajectory.md Step 3.3，归为抓取和接触设计。指关节读数不等于接触力，无法确定摩擦或力的贡献；alt_feasible: 未知，未验证能稳定搬运装肉盒的替代夹法。"
+   }
+  ],
+  "gap_zh": "无逐帧仿真状态日志；视频仅320×240且机械臂遮住部分盒沿及落地位置。视频约29.3 s可直接看到鸡腿下落，视频29.4–30.8 s仍可见浅盒在手下；视频约31 s起手部和盒子局部受遮挡，无法确认盒子后续脱离的具体时刻及两物体最终落点。log step 106、113有关盒子掉落及两物体落地分离的内容仅为agent自述，不用于确定掉盒时刻。侧沿抓取及负载掉落支持抓取和接触设计的推断，但缺少接触力、接触对及替代夹法验证，无法区分摩擦、载荷姿态与轨迹的具体贡献；评分器也未报告门开度及夹爪至盒子的原生数值。未将2317个控制步或agent时间换算为视频时间。"
+ },
+ "summary_zh": "鸡腿留盒关系从开局成立，机器人多次尝试夹取冰箱内的装肉盒，但未完成保鲜盒入炉；视频约29.3 s撤盒时鸡腿滑出，白色浅盒至视频30.8 s仍在手下，此后未恢复，终态四个目标均未满足，微波炉关门和启动均未进行。侧沿抓取与承载布局未能稳定保持负载，根因推断为抓取和接触设计；盒子后续脱离时刻及最终落点受遮挡，缺少接触力和替代握法验证，置信度保持7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "总体方向（鸡腿留盒约29.3 s丢失、盒子未入炉、门/启动未做）成立，但对掉落事件的描述与帧不符：29.3 s掉下的是鸡腿（棕色物），白色保鲜盒此后仍在夹爪下方直到至少约30.8 s；根因“控制/控制”也未按规则落到抓取和接触设计。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第一轮意见已落实：鸡腿约29.3 s滑出、盒子仍在手下、盒子未入炉、门与启动未做，均与帧一致；根因抓取和接���设计带alt_feasible未知，措辞克制。未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T03:23:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1b7286499c713afe6b37bc10d99585b5c035f1cf6f1254d4bccd1644482e4023",
+   "video_sha256": "f455e5d8de2f8799053b1946ba0cc9c1c48d3942b8f7e9b2636e38e552a9c16a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}