diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4qdfyrv.json new file mode 100644 index 0000000000000000000000000000000000000000..13d086cb7c1ac375e22ede67383096b0c4ea8f3c --- /dev/null +++ b/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 的两次抓取。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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--4u2aekg.json new file mode 100644 index 0000000000000000000000000000000000000000..d7a74640ba733e8e7846e91f7abf4f5cb0e7c702 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--dvwesp3.json new file mode 100644 index 0000000000000000000000000000000000000000..83369fe8242ca15a59729fc433d72fdad09bbd52 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--snzghjc.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--snzghjc.json new file mode 100644 index 0000000000000000000000000000000000000000..f7dcfa99d277809e862c02a7ad1c02ac1941ed2a --- /dev/null +++ b/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 西兰花随夹爪略向上、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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--txr7ui7.json new file mode 100644 index 0000000000000000000000000000000000000000..23caed52f60e4c3256e1f9e2c0fc948ddf971301 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-privileged--u4gx4iy.json new file mode 100644 index 0000000000000000000000000000000000000000..9df06a1b64618f2ca8f59a74c970f5bc72ee36a6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--3arqvk7.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--3arqvk7.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa9dce5607217d3730de1ca26b665295628a250 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--bjbiwns.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--bjbiwns.json new file mode 100644 index 0000000000000000000000000000000000000000..3524bddbd2f588736257a30f1d076d57e9095738 --- /dev/null +++ b/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、张爪与退离。" + }, + { + "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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--gddknua.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--gddknua.json new file mode 100644 index 0000000000000000000000000000000000000000..958c1e4e5e5f3a9ce75cb675f970e163eb1f3842 --- /dev/null +++ b/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，因此这是最早尝试且未修复的失败步骤。" + }, + "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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qrevhyv.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qrevhyv.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd7a8984fa424b963cb910e29c6d9b63c1d05f9 --- /dev/null +++ b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qrevhyv.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-assemble-cooking-array-i00-standard--qrevhyv", + "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": 3021, + "n_actions": 3021, + "sim_steps": 3021, + "calls": 220, + "elapsed_s": 2454.2, + "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": 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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--qsqh5pj.json new file mode 100644 index 0000000000000000000000000000000000000000..203c42861e393fe0043f84c606af9e93dbbc7eb7 --- /dev/null +++ b/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 可见瓶体离柜后掉下。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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--t3e49rc.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--t3e49rc.json new file mode 100644 index 0000000000000000000000000000000000000000..74b67e0b3614ad51744cd7c5d6ff6e545ad24d5e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--y9zvasc.json b/phase2/robocasa365/assemble_cooking_array/trajectories/robocasa365-assemble-cooking-array-i00-standard--y9zvasc.json new file mode 100644 index 0000000000000000000000000000000000000000..f736dc3bfdca5df6d6928be2799529b6bd41a080 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--cmfedkd.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd1b2fd80a86c284cb130ae80a8c1488b52aa34 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--czkpd2e.json new file mode 100644 index 0000000000000000000000000000000000000000..d58666b8905fb55ff0e00ada363cd943ce234805 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--eic5fbt.json new file mode 100644 index 0000000000000000000000000000000000000000..3d730e85312afdd0a516edbad73a9cffb38ac492 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--joxhqdc.json new file mode 100644 index 0000000000000000000000000000000000000000..b4a893572d2a28772286ccc2c542f6d769eabeb4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--nhbjl5m.json new file mode 100644 index 0000000000000000000000000000000000000000..437f411161fb8e6fbe2783c89e43de7d8ecb467a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-privileged--yhfsccy.json new file mode 100644 index 0000000000000000000000000000000000000000..caf4097071f75a932180c830e6d8b2764cf28d75 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--2dijlak.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--2dijlak.json new file mode 100644 index 0000000000000000000000000000000000000000..c9c5a9cb3b06730c26ad989d8f44cc6290f5798c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--aq837du.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--aq837du.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c9bcd4d0597896b7f96fb39794b790d95962f9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--hwhfgij.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--hwhfgij.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9b3b8f264c79f263afe39f2c4414e5f6c6e9f7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--oh3433u.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--oh3433u.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c4b9adeddbd620c11e9174d21e98c269fa9d1b --- /dev/null +++ b/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：视频 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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--qbfkdgf.json new file mode 100644 index 0000000000000000000000000000000000000000..aef6196e1b998b0bd038cee7b2555dc82cfaa0b5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--rleesqh.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--rleesqh.json new file mode 100644 index 0000000000000000000000000000000000000000..42e9695e2f8e22c7842fb53fb5ab84c9e9253a3d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--wwahhvh.json b/phase2/robocasa365/cereal_and_bowl/trajectories/robocasa365-cereal-and-bowl-i00-standard--wwahhvh.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b9a05c52ab2ca53c4298a7d3cdf980565a36b8 --- /dev/null +++ b/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 正面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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--3annoaa.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--3annoaa.json new file mode 100644 index 0000000000000000000000000000000000000000..a46044c0fc9dff53f0bc6a327d9ad761b957bae3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--bphbyzu.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--bphbyzu.json new file mode 100644 index 0000000000000000000000000000000000000000..d4b42f13ca25f4686649d5fa730999e9809e2716 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--dtpmykj.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--dtpmykj.json new file mode 100644 index 0000000000000000000000000000000000000000..738e67279847ea6fa1828a659dc375c03cebbbbf --- /dev/null +++ b/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搁板，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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--jsw4e78.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--jsw4e78.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a94db70a36271bd8f4e559a21a5ed2057f2e5d --- /dev/null +++ b/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", + 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"7cad90abd686ba52512fab958880def1a72136c52e6935eb07a9ea7215ff842c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--vz85lrg.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--vz85lrg.json new file mode 100644 index 0000000000000000000000000000000000000000..3ddd29966a48ff054fcc262c4268347cecea8ac1 --- /dev/null +++ b/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：牛排取放是本次评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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--zyhq2p7.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-privileged--zyhq2p7.json new file mode 100644 index 0000000000000000000000000000000000000000..f438099415b5e7c861565949629a3a8a19667ef4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--dnqgbqq.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--dnqgbqq.json new file mode 100644 index 0000000000000000000000000000000000000000..8b625bebbe79e7c5f3065ba5ff287cf5fce998e9 --- /dev/null +++ b/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辨率低，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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--oqhhfxo.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--oqhhfxo.json new file mode 100644 index 0000000000000000000000000000000000000000..b89f96e2c4d240a403bfdb9ccad9bb2a2e02be38 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--qvobzdz.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--qvobzdz.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb782107cd89fb8c2148a47063d8d8ba781ee68 --- /dev/null +++ b/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，现象留空并写明 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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--tuhdtga.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--tuhdtga.json new file mode 100644 index 0000000000000000000000000000000000000000..de4908ea7922d5575c55b42a719a21fcd7029da7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--urgi3ne.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--urgi3ne.json new file mode 100644 index 0000000000000000000000000000000000000000..8c39a2ff154d917444397c9aa4bcb28f93b45db2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--vb7cd3i.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--vb7cd3i.json new file mode 100644 index 0000000000000000000000000000000000000000..07ac4b04a9667f474b2c74b16c914edf822db90e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--xt5xnjt.json b/phase2/robocasa365/display_meat_variety/trajectories/robocasa365-display-meat-variety-i00-standard--xt5xnjt.json new file mode 100644 index 0000000000000000000000000000000000000000..7d75aa2532d9e90b849bd57aca278e536334c8ee --- /dev/null +++ b/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；末段虽有冰箱门板遮挡，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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--2jjkwqu.json new file mode 100644 index 0000000000000000000000000000000000000000..77a8388dc5abf06a24f67dca827d30a03a5da53b --- /dev/null +++ b/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 可见上方微波炉的门向左敞开，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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--ivkuhmy.json new file mode 100644 index 0000000000000000000000000000000000000000..6d77ca82001b63d415dc7681a97c7dc0109fba33 --- /dev/null +++ b/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": [ + { + "stage": "traj", + "round": 0, + "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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--pgy4nh4.json new file mode 100644 index 0000000000000000000000000000000000000000..cf13aa3c4f5fdad44e8bbe587f95d4f3a8cb1225 --- /dev/null +++ b/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": { + "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": 2300, + "sim_steps": 4600, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 255.61, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.32, + "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--pgy4nh4/replay.mp4", + "duration_s": 33.0, + "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控制面板区域并前伸，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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--vawufzv.json new file mode 100644 index 0000000000000000000000000000000000000000..575251a3644f45f2e0c395d59a82eab27fa7a1e2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--wzfswkq.json new file mode 100644 index 0000000000000000000000000000000000000000..f86ffb4415170682617355fbc74b4a73af766230 --- /dev/null +++ b/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，不能直接移作视频终态。" + } + ], + "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", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "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": [ + { + "stage": "traj", + "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", + "video_sha256": "93d71ef58f95badb34b3f87d6fd8d1b448ca6393e6786e4d4cea8293a2b30700", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-privileged--zqqnsqy.json new file mode 100644 index 0000000000000000000000000000000000000000..392c1789a6aa6180ae91b981f0345810f6da2520 --- /dev/null +++ b/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": { + "success": 1, + "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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--bjn9aub.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c65a2ba183593f984f63a5292124650803ed2b --- /dev/null +++ b/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，按任务规则开门使设备关闭；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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--jkzf2qz.json new file mode 100644 index 0000000000000000000000000000000000000000..d97df309ba704a94db6cc9257c79d9a651dbaf1f --- /dev/null +++ b/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 机器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（鸡腿留盒终态 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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qhuwamu.json new file mode 100644 index 0000000000000000000000000000000000000000..2efd871dbcb399a93945e2270025aec3b83ef816 --- /dev/null +++ b/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；这与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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--qj6xqp5.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8bb4df8b6a22e13061f1a28fa59186c9961e5f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--tn7qslq.json new file mode 100644 index 0000000000000000000000000000000000000000..41ce0f1b324af4733168b0bb61955060581fc067 --- /dev/null +++ b/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；根因抓取和接触设计带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": [ + { + "stage": "traj", + "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" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa.json new file mode 100644 index 0000000000000000000000000000000000000000..99cca1bb725cfbd15228d1e0f14ee70206a5b7a9 --- /dev/null +++ b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa", + "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": 8755, + "n_actions": 8755, + "sim_steps": 8755, + "calls": 1075, + "elapsed_s": 2375.3, + "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": 0.259, + "peak_processes": 15, + "peak_disk_gb": 0.677, + "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--vmtnrxa/replay.mp4", + "duration_s": 30.3, + "fps": 10.0, + "frames": 303, + "sha256": "1cd8828c2fb6a282168acdbe9d42419dbd9f1c3efdab41e15866fa09f6ef68b8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "drumstick_in_tupperware": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，冰箱层板上的浅色保鲜盒内有棕色鸡腿；视频 6.0–17.0 s 的清楚帧仍显示这一容纳关系。" + }, + { + "t": 18.3, + "log_step": null, + "text_zh": "观察：视频 17.1–18.3 s，机器人将盒子带离原层板，盒内棕色鸡腿局部仍可见；随后盒子和鸡腿被机械臂及冰箱门遮住，视频 18.8–30.2 s 无法确认鸡腿是否仍在盒中。" + }, + { + "t": 30.2, + "log_step": 171, + "text_zh": "推断：agent 自述盒子已掉到地面且未取回（log step 171），但这不能决定鸡腿是否同时滑出；没有状态日志或末帧盒内视图，故整条关系时间线及终值留未知，不能把最后可见时刻当成离盒时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 17.1–18.3 s，Panda夹爪持浅色盒体，盒底承托棕色鸡腿；机器人未直接夹持鸡腿。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 18.3–18.4 s，底盘运动使机器人相对冰箱及橱柜的位置改变，承载持盒的机械臂；log step 136–137 显示此时机器人执行底盘和躯干通道试探。" + } + ] + }, + "tupperware_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.3, + "log_step": 98, + "text_zh": "观察：视频 17.0–17.5 s，浅色盒随夹爪撤离，原来放盒的冰箱层板空出；机器人确实取出盒子。log step 98 的机器人本体状态读数在抽出过程中显示夹爪间距约0.03米，但入炉不能由该读数单独证明。" + }, + { + "t": 18.8, + "log_step": 138, + "text_zh": "推断：视频 18.3 s 尚可见盒及棕色内容物，视频 18.8–19.1 s 夹爪指端已无盒子；log step 136 标定结束时夹爪间距约0.029米，log step 137 执行底盘/躯干试探，log step 138 在导航首次脉冲前读到间距已约0.001米，log step 139 仍为0.001米，支持试探期间失握。视频约 19.3–30.2 s 机器人在冰箱前向下伸臂，未见重新持盒或进入微波炉区域。" + }, + { + "t": 30.2, + "log_step": 171, + "text_zh": "推断：机器人将盒子取出冰箱后失握，后续未恢复持盒、也未将其送入炉腔，故保鲜盒入炉从未成立；agent 最终也自述盒子落地、放入微波炉阶段未执行（log step 171），与画面动作顺序一致。此结论不是由reward=0反推。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda二指夹爪夹持保鲜盒边缘，将盒子从冰箱层板抽出并抬起；视频 17.1–18.3 s 可见盒体随手移动，随后失握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 18.3–18.4 s 底盘在持盒时运动，承载机械臂；log step 136–137 记录机器人执行底盘速度及躯干升降通道试探，向微波炉导航的脚本到 log step 138 才启动。" + } + ] + }, + "microwave_door_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 18.5, + "log_step": 128, + "text_zh": "观察：视频 0.0–30.2 s 的有效视野围绕冰箱及其门板，上方大微波炉门未进入可判断开合的画面；已对照oracle视频 18.0、28.0、30.0 s，其炉腔与合拢黑门的特征在本次视频中均不可见。" + }, + { + "t": 30.2, + "log_step": 128, + "text_zh": "推断：log step 116、120、128 中agent自述“微波炉门关闭”并描述台面附近的玻璃和旋钮，但输入未包含这些日志图片的实际图像文件，也无门开度状态。无法确认其识别的设备是否为DAG指定的上方大微波炉，更不能以oracle初态代替本次初态；本节点未知，机器人未实际进行关门操作。" + } + ] + }, + "microwave_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 30.2, + "log_step": 171, + "text_zh": "观察：视频未显示机器人到达上方大微波炉的启动按钮，也无该设备可读的工作状态；log step 171 中agent自述后续放盒、关门、启动均未执行，评分器仅给出整体success=0，没有turned_on字段。" + }, + { + "t": 30.2, + "log_step": null, + "text_zh": "推断：可确认未观察到启动操作，但无法从整体失败、未按键或oracle设备状态决定本次设备的初始及最终turned_on值；没有该设备视图和状态日志，故节点未知。" + } + ] + } + }, + "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": 18.5, + "log_step": 137, + "where": "探索", + "evidence_zh": "推断：视频 17.1–18.3 s 机器人已从冰箱取盒，约视频 18.3–18.8 s 的底盘/躯干运动后盒子脱离夹爪，随后未完成入炉。log step 136 标定结束时夹爪间距约0.029米，log step 137 依次试探底盘通道8、9及躯干通道11（躯干读数由约0.030升至0.315米）；log step 138 导航脚本的首次运动前间距已为约0.001米，log step 139 再次读到约0.001米，支持掉盒发生于通道探索期间，而非向炉体搬运期间。断点仍取首次未修复的保鲜盒入炉步骤，视频 18.5 s 为遮挡区间内的粗略导航锚点，未从agent时间换算。" + }, + "unmet": { + "drumstick_in_tupperware": null, + "tupperware_in_microwave": false, + "microwave_door_closed": null, + "microwave_on": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 18.5, + "log_step": 138, + "evidence_zh": "推断：视频 17.1–18.3 s 盒子离开原层板并随夹爪移动，视频 18.8–19.1 s 指端已空，后续未再带起盒子；log step 136 的夹爪间距约0.029米，而log step 138–139 约0.001米，支持原已建立的夹持丢失。agent在log step 141自述盒子落地；落地瞬间及地面盒子本身被遮挡，失握发生时刻只定位到约视频 18.3–18.8 s。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "t": 18.5, + "log_step": 137, + "evidence_zh": "推断：log step 136–137 中机器人在持盒状态下执行底盘速度及躯干升降试探脉冲，log step 137 含通道11的0.6升降命令；log step 138 在导航首次脉冲前已读到夹爪间距约0.001米，之后触发GRIP WARNING。结合视频 18.3–18.8 s 从持盒到空爪的变化，支持控制试探期间失握，具体机制未定。试探时夹爪命令为+1，但此前成功抽盒也使用+1，故不足以把agent自述“闭爪挤掉盒子”（log step 171）确认为机制，也不能确定由躯干抬升或其他因素造成；不细分接触设计、反馈或参数问题。" + } + ], + "gap_zh": "无状态日志。视频约 18.3–18.8 s 遮挡了失握和落地细节，视频后段及末秒也看不到地面盒内，鸡腿留盒的终态未知；该节点虽在视频 0.0 s 已成立，但无法给出不虚构保持/丢失时刻的完整区间，故intervals留null并在证据保留已观察到的初始进展。上方大微波炉在本次视频中始终不具备有效的门/按钮视图，炉门关闭及设备开启未知；日志图片只有索引，不能代替实图。oracle只用于辨认目标及成功外观，不移用其初态或终态。评分器未报告两个原生数值指标；掉盒后的可达性及闭爪挤掉机制仅有agent估计/自述，未据此增加现象或细分根因。 审查对门关闭及设备开启建议按N8改为false，但DECISIONS.md N8的Now保留目标区域在所有视角中隐藏时的unknown；本次视频目标炉门及控制区始终不具备判断视图，故保留未知并记录此分歧。两者均为state节点，不能以未达after前驱推成false。" + }, + "summary_zh": "机器人起始时鸡腿在盒内，随后成功夹住保鲜盒并抽出冰箱，但约视频 18.3–18.8 s 在持盒执行底盘/躯干通道试探期间失握，之后未取回或完成保鲜盒入炉；断点为保鲜盒入炉，位置为探索，现象为没保持住，根因为控制，具体失握机制未定。鸡腿在掉盒后是否仍留盒、上方微波炉的门与开机终态均因视野缺失保留未知；本轮拒绝把后两项改为false，但无法直接核实其终态，且失握细节受遮挡，conf由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": "保鲜盒取出后掉落、入炉未成立、断点选 tupperware_in_microwave 均与视频/日志一致。需要改的有三处：(1) 掉盒并非“转运”途中，而是 agent 在持盒状态下做底盘速度通道标定和躯干升降试探时发生，失败位置应为探索，根因文字不应写成持物移动控制；(2) microwave_door_closed、microwave_on 在未接近微波炉、从未出现关门/按键动作的情况下判 unknown 过弱，应按 N8 判 false；(3) 对应的 unmet 同步。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点（保鲜盒入炉，探索）、没保持住、控制根因与视频/日志一致；上方微波炉在本次视频全程不可见（0/10/18.4/30 s 帧均只见冰箱和门板），按 N8 'unknown 仅当区域在所有视角隐藏' 保留 microwave_door_closed / microwave_on 为 unknown 可接受，不重复第一轮已被带证据驳回的点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"work/runs/robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--vmtnrxa/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "84af9cf4e3df38bf704751d9a3cc7aea764be1169eb6fa5bb27be990aca312a5", + "video_sha256": "1cd8828c2fb6a282168acdbe9d42419dbd9f1c3efdab41e15866fa09f6ef68b8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--xzt4mfs.json b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--xzt4mfs.json new file mode 100644 index 0000000000000000000000000000000000000000..78bc91ff4c3663e57603402bbfaa66bc5bb25960 --- /dev/null +++ b/phase2/robocasa365/microwave_defrost_meat/trajectories/robocasa365-microwave-defrost-meat-i00-standard--xzt4mfs.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-microwave-defrost-meat-i00-standard--xzt4mfs", + "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": 1414, + "sim_steps": 1414, + "calls": 50, + "elapsed_s": 2584.6, + "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": 0.215, + "peak_processes": 9, + "peak_disk_gb": 0.456, + "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--xzt4mfs/replay.mp4", + "duration_s": 35.5, + "fps": 10.0, + "frames": 355, + "sha256": "81c28bada5f80ef8aa9b36353356037339b3e52b8ae7956f82b114c0c89c029a" + }, + "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 0.0 s，棕色鸡腿落在浅色保鲜盒内，盒子位于敞开的冰箱层板上。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：视频 27.0–28.4 s、33.0–35.4 s，装肉盒仍在同一层板上，鸡腿仍落在盒内；视频 28.6–32.8 s 机械臂局部遮挡盒子，但前后没有盒子移出、倾翻或鸡腿掉落的变化。推断：初始鸡腿留盒关系持续至结束。" + } + ] + }, + "tupperware_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.0, + "log_step": 81, + "text_zh": "观察：视频 28.6–32.8 s，机器人在冰箱内伸爪、闭爪并抬起末端；视频 33.0–35.4 s 撤手后，装肉保鲜盒仍在冰箱原层板上，夹爪没有携盒离开。log step 81 的脚本目标是夹盒左壁并抬起，不能把指令或保存名当作抓取成功。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：视频 0.0–35.4 s 未出现装肉盒移向微波炉，末帧盒子仍留在冰箱内。推断：保鲜盒入炉从未成立；此结论来自盒子的可见位置，不是由 success=0 反推。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 19.0–21.0 s 及约 33.4–34.2 s，Panda夹爪推开冰箱右门或门内储物格，为取盒腾出通道；这是入炉步骤中取盒准备的实际接触。视频 28.6–32.8 s 的盒壁接触被手臂遮挡，未证实夹爪夹住盒壁，不记为成功抓握保鲜盒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 22.0–28.4 s、34.4–35.4 s，Omron底盘在冰箱前后退、横移及重新对准取盒位置，承载机械臂；没有携盒行驶。" + } + ] + }, + "microwave_door_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：本段视频 0.0–35.4 s 的相机始终跟随机器人朝向冰箱，右侧局部露出的是台面小电器；目标是上方大微波炉的门是否贴合及归一化开度是否不超过0.005所需的上方炉体、门及启动面板未在可辨识视野内。机器人没有离开冰箱去关炉门或按启动键，但这不足以独立确定该 state 节点的初始及最终设备状态；输入无状态日志或逐节点服务读数，故保留未知。" + } + ] + }, + "microwave_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：本段视频 0.0–35.4 s 的相机始终跟随机器人朝向冰箱，右侧局部露出的是台面小电器；目标是上方大微波炉的 turned_on 状态所需的上方炉体、门及启动面板未在可辨识视野内。机器人没有离开冰箱去关炉门或按启动键，但这不足以独立确定该 state 节点的初始及最终设备状态；输入无状态日志或逐节点服务读数，故保留未知。" + } + ] + } + }, + "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": 30.5, + "log_step": 81, + "where": "操作中", + "evidence_zh": "观察：视频约 29.0–32.8 s，机器人对冰箱层板上的装肉盒执行夹取动作；视频 33.0–35.4 s 撤回后盒子仍在原位，之后仅重新推门和调整底盘，没有完成取盒。推断：最早未修复的失败属于保鲜盒入炉步骤中的取盒阶段，定位在约视频 30.5 s 的闭爪阶段。" + }, + "unmet": { + "drumstick_in_tupperware": true, + "tupperware_in_microwave": false, + "microwave_door_closed": null, + "microwave_on": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 30.5, + "log_step": 81, + "evidence_zh": "推断：视频 28.6–32.8 s 的伸爪、闭爪、抬手后，视频 33.0–35.4 s 可见盒子和鸡腿仍在冰箱原位，夹爪空着撤出；结合 log step 81 明确的夹盒并抬升动作，所需的有效夹持没有建立。此处指未建立能带走盒子的抓取，不排除短暂擦碰盒壁。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 30.5, + "log_step": 86, + "source_zh": "日志", + "evidence_zh": "推断：log step 81 的脚本以提交前的固定底座变换一次性求解整段接近、下降、闭爪和抬升动作，途中没有重新观测并修正底座变换。log step 86 从该次执行的机器人本体读数打印出底盘 side_pos 由 -11.2182 变为 -11.3719；log step 85 虽显示末端关节接近指令，末端 y=-0.6932，而 log step 81 的夹取指尖目标 y=-0.525。结合视频 29.0–33.0 s 的空夹撤回，支持执行控制未把夹爪送至有效抓取位置；具体是何处阻挡或何种接触导致底盘位移无法确定，因此不细分控制子类，也不增加碰撞现象。" + } + ], + "gap_zh": "观察：inputs/ 无 states.jsonl，且未提供微波炉门开度、turned_on、夹爪至盒子距离的原生读数；上方大微波炉在本视频中不在可判定视野内，因此关门及开机状态保留未知。成功参考视频约 18–33 s 的正面炉腔、关门和按钮动作仅用来识别应有的视图，不能代替本次状态。取盒时手臂遮挡指尖与盒壁，无法定位短暂擦碰及底盘后移的接触源。log step 103 是模型过滤提示，但视频中此前已有未修复的空夹取盒失败，故仍标注该物理失败；不把过滤提示归为机器人根因。日志的 control_dt=0.05 与 control_steps=1414 对应时长约为视频的两倍，本标注所有视频锚点均直接取帧，不把日志时间或控制步数换算成视频时间。" + }, + "summary_zh": "观察：本次视频始终在冰箱附近操作，鸡腿留盒关系从视频 0.0 s 持续到视频 35.4 s，确定保持 1/4 个节点；装肉盒始终未离开冰箱，入炉未完成，上方微波炉的关门及开启状态因视野缺失保留未知。推断：断点是保鲜盒入炉步骤中的取盒，约视频 30.5 s 没有建立有效夹持；日志支持固定底座逆解与执行中底盘位移未协调的控制问题，但具体阻挡接触不可见。观察：末条 log step 103 为模型过滤提示，此前的取盒失败已经发生且未修复。", + "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、断点（保鲜盒入炉·取盒，操作中）、没建立接触与控制根因均有视频与 log 读数支持；微波炉两个状态节点因炉体不在视野保留未知可接受。无需修改。", + "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": "2026-10-30T02:53:40Z", + "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--xzt4mfs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-microwave-defrost-meat-i00-standard--xzt4mfs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "50d4f4143afa22589c0aedd6c31157d14ca712fc1bdd0040681f9f97090bfeb5", + "video_sha256": "81c28bada5f80ef8aa9b36353356037339b3e52b8ae7956f82b114c0c89c029a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--4q57mma.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--4q57mma.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b445bb5513e9c90dcc3219453292fb170713fb --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--4q57mma.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-privileged--4q57mma", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 2911, + "sim_steps": 5822, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 547.34, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 5.715, + "peak_processes": 14, + "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-searing-meat-i00-privileged--4q57mma/replay.mp4", + "duration_s": 32.5, + "fps": 10.0, + "frames": 325, + "sha256": "610362f349951cd22b56de42ecf772b3706202dbeeddcd9e4662bd750be2d693" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 108, + "text_zh": "观察：视频 1.6–3.4 s，机器人空夹爪接近并推闭右侧玻璃柜门，黑色平底锅仍在柜内层板上。" + }, + { + "t": 4.4, + "log_step": 108, + "text_zh": "观察：视频 4.2–6.2 s，机器人夹爪伸向柜内锅柄所在位置，但停在已关闭柜门外；锅没有离开层板。视频 7.0 s 机器人空手移向灶台，视频 8.0–32.4 s 未见锅进入灶面，视频 30.4 s 仍可在左上方柜内看到锅。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.6–3.4 s，机器人单臂夹爪推右柜门，使其关闭；视频 4.2–6.2 s 夹爪取锅时抵在柜门外。未见夹爪夹住锅柄，锅始终留在柜内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 7.0–8.0 s，机器人底盘沿台面向灶台移动，支承机械臂执行后续放锅动作，但夹爪中没有锅。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.8, + "log_step": null, + "text_zh": "观察：视频 23.2–24.4 s，机器人末端转向右侧白盘附近后又移开，鸡腿仍留在盘内，没有随夹爪抬起或移入锅。视频 8.0–32.4 s 的可见白盘一直装有鸡腿，最后一帧视频 32.4 s 也如此，灶面没有锅。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 23.2–24.4 s 有机器人向鸡腿白盘附近伸手的尝试，但原视频仅 320×240，手指接触细节不能判清；鸡腿没有随手移动，不能认定实际抓握成立。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.0, + "log_step": null, + "text_zh": "观察：视频 28.0–30.4 s，机器人末端回到灶台区域并做调整，右后炉圈没有发红；视频 31.4–32.4 s 机器人停住后，右后炉圈仍呈灰色。参考成功视频 32.8 s 可见锅边露出的鲜红右后炉圈，本次视频的同一区域始终没有该开启线索。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 28.0–30.4 s，机器人执行末段灶台操作，但机械臂遮挡且旋钮像素过少，无法确认夹爪是否夹住或拨到目标旋钮；没有可见的右后炉圈开启。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 4.4, + "log_step": 108, + "where": "操作中", + "evidence_zh": "观察：视频 3.4 s 右柜门已被机器人推闭，而锅仍在柜内；视频 4.2–6.2 s 机器人尝试取锅时，夹爪停在关闭的柜门外，随后空手离开。视频 30.4 s 锅仍留在柜中，本次放锅步骤从未修复。log step 108 的该轮输出也记录关门后锅位置不变，取锅后仍不变。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 4.4, + "log_step": 108, + "evidence_zh": "观察：视频 4.2–6.2 s，机器人夹爪朝柜内锅柄接近，却抵在已关闭的玻璃柜门外并停滞；锅与夹爪之间隔着门板，锅没有被取出。视频 6.8–7.0 s 机器人退开并空手转向灶台。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "推断：agent 的操作顺序先封闭了取锅通道。log step 106 的脚本明确先以空夹爪关右柜门，再按原柜内坐标抓锅，期间没有重新开门；视频 1.6–6.2 s 呈现相同顺序。log step 108 输出记录关门后锅仍在原处，log step 109 中 agent 也承认“grasp then failed because the door was already shut”。这是取锅前关闭访问通道的顺序错误，足以解释柜门阻挡。", + "source_zh": "日志" + } + ], + "gap_zh": "本次没有状态日志；原视频为 320×240，鸡腿尝试和旋钮尝试的细微接触方式无法确定，因此相应 contact_actual 标未知，不凭脚本的闭爪命令认定抓握。评分器记录交付轨迹含 2911 个动作，但日志未展示这条文件最终保存的完整输出；视频初段与 log step 106–108 的先关门后取锅方案吻合，后续 log step 113–118 的另一次调试和代码异常不作为本次物理现象。未把控制步或 agent 工作时间换算为视频时间；评分器未报告三项原生距离值。" + }, + "summary_zh": "本次评分轨迹三个节点均未达成：锅一直留在橱柜，鸡腿一直留在右侧白盘，右后炉圈始终未见开启。机器人先推闭柜门再取锅，在视频约 4.4 s 被门板阻挡且未修复，日志脚本支持操作顺序规划错误的归因。没有状态日志且视频分辨率较低，鸡腿与旋钮操作的实际接触细节无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成与视频一致：锅始终在柜内、鸡腿始终在白盘、右后炉圈未亮；断点 pan_on_rear_right_burner（约视频 4.4 s，先关柜门再取锅，夹爪被门挡住）及\"推理/规划\"根因有 log step 106/108/109 和视频帧支持。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": "2026-10-30T03:16:04Z", + "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-searing-meat-i00-privileged--4q57mma/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-privileged--4q57mma/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "05469907ffab877ffe3d60bc54d86e6f904f051e51d1511463405af5a552e56c", + "video_sha256": "610362f349951cd22b56de42ecf772b3706202dbeeddcd9e4662bd750be2d693", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nakfscm.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nakfscm.json new file mode 100644 index 0000000000000000000000000000000000000000..c3415d111fc880b38d2985135bd83afbbed2809e --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nakfscm.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-privileged--nakfscm", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 2398, + "sim_steps": 4796, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 243.5, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.511, + "peak_processes": 13, + "peak_disk_gb": 1.002, + "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-searing-meat-i00-privileged--nakfscm/replay.mp4", + "duration_s": 34.4, + "fps": 10.0, + "frames": 344, + "sha256": "d1d543718e1b4d0a3ab4781c94dc8965f08a81060ffb40b028f5e1d942836dca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅在已敞开的上柜层板内，未在灶面。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0.8–3.4 s，机器人夹爪在锅柄上方靠近、合拢并后撤，锅保持在层板原位，未随夹爪抬起；视频 4.4 s 仍可见柜内整口锅，随后机器人空手向灶台移动。" + }, + { + "t": 34.3, + "log_step": 159, + "text_zh": "观察：视频 5.0–34.3 s 灶面始终无平底锅；末秒逐帧检查也未出现放锅。log step 159 是 log step 153 启动并保存的完整交付管线输出，保存末次轨迹为 2398 个动作，与评分器 n_actions=2398 一致；其中多次打印锅的位置不变，支持视频中的取锅失败，但没有将这些输出的运行耗时换算成视频时刻。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 1.0–3.4 s，Panda 二指夹爪朝柜内锅柄合拢后空手后撤，未形成包夹；低分辨率单视角不能排除指尖短暂轻触锅柄，无法确定实际微接触方式，不计为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 3.4–5.5 s，机器人底盘驱动整机从上柜前移向灶台，支承机械臂进行放锅步骤的后续移动，夹爪实际没有携锅。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 5.0–12.0 s 白盘上的棕色鸡腿清晰可见，灶面没有锅；视频 12.0–20.5 s 机器人移向白盘，手臂部分遮挡鸡腿。" + }, + { + "t": 21.0, + "log_step": 159, + "text_zh": "观察：视频 20.5–28.0 s，机械臂离开遮挡后，鸡腿仍在白盘原处，未随手抬起；log step 159 的交付管线输出也在夹取和抬起指令后打印几乎不变的鸡腿坐标。" + }, + { + "t": 34.3, + "log_step": null, + "text_zh": "观察：视频 28.2–34.3 s，鸡腿仍在灶旁白盘，白盘未空；视频 33.3–34.3 s 已逐帧核对，没有鸡腿进入锅的关系。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 12.0–20.5 s，机器人机械臂在白盘前方执行夹取尝试，但手指与鸡腿之间的区域被腕部和画面下沿遮挡；之后鸡腿仍在原盘，未见成功抓握，不能确定是否发生过轻触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 12.0–15.5 s 和视频 20.0–21.0 s，底盘带动机械臂在鸡腿白盘与灶台工作位间移动，支承夹取和入锅尝试；鸡腿实际没有被携带。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 5.0–12.0 s 各炉圈均为暗色，右后炉圈没有开启红光。" + }, + { + "t": 31.6, + "log_step": 159, + "text_zh": "观察：视频 28.2–32.6 s，机器人空夹爪转向灶面前侧并反复调整，右后炉圈未发红；log step 159 中交付管线的六次 knob push 输出均记录右后旋钮角度为 0.0。" + }, + { + "t": 34.3, + "log_step": null, + "text_zh": "观察：视频 32.6–34.3 s 夹爪退开，灶面无锅遮挡，右后炉圈仍为暗色。对照成功参考视频 31.5–32.5 s，同一视角可见锅边缘露出的鲜红右后炉圈；本次视频没有该开启线索。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 28.2–32.6 s，机器人夹爪朝灶面前侧旋钮区域调整姿态；对应旋钮及可能接触点被手臂遮挡或过小，无法确认指面是否真正碰到凸缘，不把脚本标为 knob push 的命令视为已发生推拨接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 2.4, + "log_step": 159, + "where": "操作中", + "evidence_zh": "观察：视频 1.0–3.4 s 机器人对上柜内锅柄执行靠近、合拢和后撤，夹爪没有带出锅；视频 4.4 s 锅仍在层板，机器人随后空手离开。视频 5.0–34.3 s 灶面始终无锅，后续鸡腿和旋钮尝试也未修复这次取锅失败，因此断点属于最早未完成的锅放右后炉头步骤。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.4, + "log_step": 159, + "evidence_zh": "观察：视频 1.0–3.4 s，机器人夹爪在锅柄上方合拢后后撤，指间没有锅柄，黑锅未离开柜内层板；视频 4.4 s 整锅仍在柜内。该步骤需要的包夹抓握从未建立，并非已经拿起后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 159, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：控制执行未将夹爪送到选定的锅柄抓取位。log step 152 的交付脚本以锅柄位置 [1.40, -0.2205, 1.452] 米为抓取目标，log step 159 虽打印逆解位置残差接近零，实际抓取时末端位置却为 [1.315, -0.385, 1.598] 米，随后闭爪、抬起和后拉而锅坐标不变；视频 1.0–4.4 s 的空夹和锅留柜内与之相符。另一次会话诊断 log step 166 也显示预测末端到位而执行后关节误差约 1.006 弧度，只作控制问题的补充证据，不充当评分轨迹。现有证据不足以细分轨迹、反馈或接触几何。" + } + ], + "gap_zh": "没有状态日志。视频足以判定锅未离柜、鸡腿未离盘和右后炉圈未开启，但指尖轻触与旋钮接触细节被遮挡或分辨率不足，因此相关 contact_actual 保留未知；不声称已成功抓握或推拨。缺少评分轨迹的接触对、关节跟踪和受力记录，不能认定具体阻挡物或控制参数。评分器未报告三项原生距离指标，故其 value 为 null；未用 agent 耗时或控制步数推算视频时间。" + }, + "summary_zh": "观察：评分视频中三个目标均未达到，锅留在上柜，鸡腿留在白盘，右后炉圈始终未见发红。推断：最早未修复的断点是锅放右后炉头，机器人在视频约 2.4 s 空夹后撤，交付管线的目标与实际末端位置偏差支持控制执行问题。观察：无状态日志，指尖微接触和具体控制失效机制不能确定；成功参考视频仅用于对照目标外观。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达到与视频一致：锅始终在上柜层板、灶面无锅，鸡腿留在白盘，右后炉圈未亮；断点（锅放右后炉头，约视频 2 s 空夹后撤）、没建立接触、控制根因均有 log step 159 的末端位置偏差（抓取时末端约 [1.315,-0.385,1.598] 对目标 [1.40,-0.2205,1.452]）和视频支持，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": "2026-10-30T03:08:04Z", + "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-searing-meat-i00-privileged--nakfscm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-privileged--nakfscm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "49c6e3b0b8289a43955916376e9126df9fa75eb291bef36da737f6a4c8f724af", + "video_sha256": "d1d543718e1b4d0a3ab4781c94dc8965f08a81060ffb40b028f5e1d942836dca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nkagzjs.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nkagzjs.json new file mode 100644 index 0000000000000000000000000000000000000000..0354dd22547adf2c513acf2cf7ddafc524e59490 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--nkagzjs.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-privileged--nkagzjs", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 356, + "sim_steps": 712, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 179.67, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.735, + "peak_processes": 10, + "peak_disk_gb": 0.832, + "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-searing-meat-i00-privileged--nkagzjs/replay.mp4", + "duration_s": 17.9, + "fps": 10.0, + "frames": 179, + "sha256": "6f2c9080747397d35fcf9d3ca7db904ed35ab070cf193bcaeaabeb8801fab6b1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅位于已敞开的上方橱柜层板内，未接触右侧灶面。" + }, + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频 3.6–14.8 s 机器人夹爪在锅的近侧边缘接触、挪动，锅柄仍朝右露在夹爪外；视频 15.4 s 夹爪退离后锅仍留在层板上，视频 16.8–17.8 s 逐帧检查也未见锅离柜或到达灶面。" + }, + { + "t": null, + "log_step": 142, + "text_zh": "观察：log step 142 检查最终交付文件为 356×13 个动作，元数据为 pan_grasp_attempt；log step 144 的 agent 最终报告承认锅未到达右后炉头。评分器 n_actions=356、deterministic=1，视频中的取锅失败与这份交付相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 3.6–14.8 s，单臂夹爪指端抵住黑锅靠机器人一侧的锅沿，将锅在柜内挪动；视频 15.4 s 退开时未带走锅，未见二指包夹锅柄。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 1.0–2.0 s 及 14.9–15.6 s，机器人相对橱柜横向移动，机载视角随之平移；底盘在取锅的接近和撤回阶段支承机械臂运动。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.8, + "log_step": null, + "text_zh": "观察：视频 0.0–17.8 s 机器人始终围绕柜内黑锅操作，未搬运鸡腿；视频 15.4–17.8 s 夹爪退开后锅内清楚可见，没有棕色鸡腿，因此鸡腿与锅的目标关系未成立。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.8, + "log_step": 140, + "text_zh": "推断：log step 140 读取冻结初态的右后炉头旋钮角度为 0.0；评分视频 0.0–17.8 s 中机器人夹爪始终在上方橱柜取锅，没有到右侧灶台拨动旋钮。结合初态关闭与全程未操作，判定右后炉头仍关闭；右后炉圈和对应旋钮未完整入镜，此判断并非由零分反推。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 15.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 3.6–14.8 s 机器人一直在柜内锅沿附近伸指、挪锅；视频 15.4 s 夹爪与锅分离并空手退开，锅仍在橱柜层板上，直到视频 17.8 s 都未被取出。失败发生在放锅步骤所含的取锅操作，后续未修复。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 15.4, + "log_step": null, + "evidence_zh": "观察：视频 4.4–14.8 s 机器人指端在锅近侧边缘顶推，锅柄一直露在夹爪右侧，未见二指夹住并承载锅；视频 15.4–15.7 s 夹爪离开而锅留在层板上。必要的搬运抓握没有建立，实际的触碰和推移不足以取出锅。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 15.4, + "log_step": null, + "source_zh": "视频", + "evidence_zh": "推断：视频 3.6–14.8 s 机器人已到达目标锅附近并产生接触，但指端只在近侧锅沿作用，未形成能随撤回动作承载锅的抓握；视频 15.4 s 空手退离。取锅目标明确而实际接触执行失败，支持控制层归因；现有视角不足以分清抓取几何设计、轨迹受阻或跟踪误差。" + } + ], + "gap_zh": "没有状态日志，无法取得评分轨迹的接触对、指关节和力数据；不把 log step 127 的 377 动作调试尝试当作最终 356 动作交付。低分辨率单视角不能细分抓取失败的控制子类；右后炉头区域未完整入镜，其关闭状态由冻结初态和视频全程未操作的上下文推断。" + }, + "summary_zh": "评分视频中机器人仅在上方橱柜内接近并推移黑锅，视频 17.8 s 锅仍留在层板上，三个目标节点最终均未达到。断点是“锅放右后炉头”所含的取锅操作：夹爪未建立搬运抓握，根因记为控制。无状态日志，抓取失败的控制子类及右后炉头的精确末态角度无法直接核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 0–17.8 s 锅始终留在上方橱柜层板上，三个节点均未达成，断点与现象与画面一致；控制子类无法细分，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": "2026-10-30T03:14:17Z", + "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-searing-meat-i00-privileged--nkagzjs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-privileged--nkagzjs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "602b4f990acb8ce9b6e0dce12530a5c853f830e32a8583d261eeb6fe8ad33420", + "video_sha256": "6f2c9080747397d35fcf9d3ca7db904ed35ab070cf193bcaeaabeb8801fab6b1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--s8ekjsm.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--s8ekjsm.json new file mode 100644 index 0000000000000000000000000000000000000000..cbeecb5629d8e2925286b35dad860f3e8a1f4468 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--s8ekjsm.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-privileged--s8ekjsm", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 1085, + "sim_steps": 2170, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 140.58, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 4.353, + "peak_processes": 10, + "peak_disk_gb": 0.241, + "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-searing-meat-i00-privileged--s8ekjsm/replay.mp4", + "duration_s": 36.3, + "fps": 10.0, + "frames": 363, + "sha256": "af6fc7d6da47c4239a2148c9172184bdc100e0e8cce0c3dfd5a745d80bd8207d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅在敞开的上方橱柜层板上，未接触灶面。" + }, + { + "t": 4.5, + "log_step": 63, + "text_zh": "观察：视频 3.5–6.0 s 机械臂在锅柄前下方运动并撤回，锅仍留在同一层板位置；视频 7.0–10.0 s 机器人空手向右移动，灶面没有锅。log step 63 的最后一次脚本运行输出 pan held? False，随后保存最终轨迹；log step 64 确认提交文件含 1085 条动作，与评分器 n_actions=1085 一致。" + }, + { + "t": 36.2, + "log_step": null, + "text_zh": "观察：视频 10.0–36.2 s 灶面始终未出现平底锅；视频 35.3–36.2 s 的末秒逐帧检查也未见锅到达右后炉头。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 3.5–6.0 s 二指夹爪在锅柄前下方完成空夹及撤回动作，锅留在柜内。候选“空夹尝试”：未见两指包夹锅柄或带动锅，不能记为实际抓握，也未见对锅的推、压或托举。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 7.5–11.0 s 机器人底盘向右移动，支承机械臂到灶台工作位；移动时夹爪未携带平底锅。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 鸡腿仍在灶台右侧白盘中，灶面上没有平底锅。" + }, + { + "t": 20.0, + "log_step": 63, + "text_zh": "观察：视频 17.0–22.5 s 机器人在白盘前上方运动、收合夹爪并移开，鸡腿始终留在原盘，未随夹爪离盘；log step 63 的最后脚本包含夹取鸡腿及搬放段，但动作指令本身不构成入锅证据。" + }, + { + "t": 36.2, + "log_step": null, + "text_zh": "观察：视频 35.3–36.2 s 白盘内仍清楚可见鸡腿，锅未出现在灶面；未出现鸡腿与锅接触的目标关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 17.0–22.5 s 二指夹爪在鸡腿所在白盘前上方空夹并撤离，鸡腿未离盘。候选“空夹尝试”：夹爪未包夹鸡腿，未形成可标为抓握、推扫或托举的目标接触。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 可见灶面各炉圈均为灰色，右后炉圈未发红。" + }, + { + "t": 32.0, + "log_step": 63, + "text_zh": "观察：视频 29.0–34.5 s 机器人夹爪在灶面上方、靠近后方搁架及厨具筒的高度转腕，未降至灶面前缘的旋钮；右后炉圈没有变红。log step 63 的最后脚本输出两次旋转后 knob 均为 0.0，作为与画面一致的辅助日志证据。" + }, + { + "t": 36.2, + "log_step": null, + "text_zh": "观察：视频 35.3–36.2 s 灶面仍无发红炉圈。成功参考录像视频 32.8 s 可清楚看到目标炉圈红光，而本次相同视角没有该开启线索。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 29.0–34.5 s 夹爪在旋钮上方较高处转腕。候选“悬空转腕尝试”：夹爪未接触右后炉头旋钮，不能记为抓握旋转或推拨旋钮。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 4.5, + "log_step": 63, + "where": "操作中", + "evidence_zh": "观察：视频 3.5–6.0 s 机器人在柜内平底锅前下方空夹后撤回，锅仍平放在原层板；视频约 7.5 s 起底盘带着空手向灶台移动，后续直至视频 36.2 s 灶面都没有锅。log step 63 记录最后一次运行 pan held? False 并保存轨迹，log step 64 核对提交动作数为 1085。推断：锅放右后炉头的取锅阶段首先失败，此步此后未修复，故为断点。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.5, + "log_step": 63, + "evidence_zh": "观察：视频 3.5–6.0 s 机器人夹爪在锅柄前下方运动，撤回时未携带锅，黑锅始终留在柜内层板；视频 7.0–10.0 s 随后的空手移位再次露出原位的锅。推断：取锅所需的夹持接触没有建立，未出现先持住锅再丢失的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 60 所写流水线经 log step 62–63 修改后用于最终提交；log step 63 中脚本的取锅接近目标为 [1.39,-0.24,1.44] 米，但其输出末端到达位置为 [1.438,-0.562,1.343] 米，随后仍执行闭爪、抬升和运输段，锅位置未改变。视频 3.5–6.0 s 同样显示手未带出锅，视频约 7.5–11.0 s 机器人空手移至灶台，支持末端控制未实现取锅动作；尚不足以区分逆解、跟踪或接触几何子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，无法核实瞬时接触对或三个原生距离指标的精确值；评分器 reward 未报告这些距离，native_metrics 均填 null。取锅时部分指尖被腕部遮挡，但前后画面可判定未形成持锅。agent 在 log step 65 自述手部碰撞盒受橱柜层板阻挡，该说法及先前会话测试不足以证明最终提交中的具体阻挡接触，因此不追加被挡/碰撞现象，也不细分控制根因。未将 agent 工作时间或控制步数换算成视频时间。" + }, + "summary_zh": "本次评分轨迹三个节点均未达到：平底锅留在敞开橱柜中，鸡腿留在右侧白盘，右后炉圈未开启。机器人在视频约 4.5 s 的取锅阶段未建立夹持接触，此后空手移至灶台并继续执行后续动作，首个未修复断点为锅放右后炉头，证据支持控制失败。缺少状态日志，无法确认 agent 自述的层板碰撞及精确距离指标，未据此追加标签。", + "conf": 8, + "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：平底锅全程留在橱柜层板（视频 0–10 s 取锅段后仍在原位），灶面无锅，鸡腿始终在白盘，右后炉圈未红；三节点均未达成、断点（取锅，约 4.5 s）、没建立接触、控制根因（不细分）均有视频与日志支持，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": "2026-10-30T03:15:19Z", + "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-searing-meat-i00-privileged--s8ekjsm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-privileged--s8ekjsm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1316e9f9fe3446f5b68c955edeff18ef7376eaf6fef3219daad378b6d14b5296", + "video_sha256": "af6fc7d6da47c4239a2148c9172184bdc100e0e8cce0c3dfd5a745d80bd8207d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--vutxavc.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--vutxavc.json new file mode 100644 index 0000000000000000000000000000000000000000..d219ebd7ca772ce67486eb9ad2703ae030ade71e --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-privileged--vutxavc.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-privileged--vutxavc", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 2906, + "sim_steps": 5812, + "video_rendered": 1, + "final_reward": 0.0, + "verifier_wall_s": 479.59, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 8.687, + "peak_processes": 23, + "peak_disk_gb": 0.246, + "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-searing-meat-i00-privileged--vutxavc/replay.mp4", + "duration_s": 32.4, + "fps": 10.0, + "frames": 324, + "sha256": "156ad7b821a40a52bfd0389ba6710e109ee3ce30e32759d5169ec7431a838278" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑锅在已敞开的上方橱柜层板内，右侧黑色灶面上没有锅。" + }, + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频 3.0–4.6 s 机器人二指夹爪夹住前侧锅沿并向外拉；视频 4.8–5.6 s 锅落到橱柜下方、台式烤箱前的白色台面。" + }, + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.3–12.0 s 机器人夹爪抵着锅向烤箱前方推，锅仍停在白色台面；视频 14.0–24.0 s 再次推移，锅仍未进入黑色灶面。" + }, + { + "t": 32.3, + "log_step": null, + "text_zh": "观察：视频 24.5 s 机器人抬手离锅，锅完整留在灶面左侧白色台面；视频 31.4–32.3 s 锅柄和部分锅体仍在原处，右后炉头无锅。因此本步从未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.5–2.5 s 机器人以闭合夹爪抵住锅内侧向外拖锅；视频 6.5–8.0 s 以及视频 9.3–24.0 s 的推移段，夹爪抵锅沿或锅底侧缘推移台面上的锅，未夹住锅柄。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.0–4.6 s 单臂二指夹爪在锅的前侧锅沿合拢，短暂夹着锅沿向外拉；随后锅翻落到白色台面。这一抓握与后续推锅依次发生。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 7.0–8.0 s、视频 12.5–14.5 s 机器人随底盘沿台面移动并重新接近锅，底盘支承机械臂完成搬锅步骤中的推移与调整工作位。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 24.5 s 机器人离开推锅位置，露出的锅面上没有棕色鸡腿，锅单独留在烤箱前的台面上。" + }, + { + "t": 30.5, + "log_step": null, + "text_zh": "观察：视频 27.0–31.0 s 机器人手臂在灶面左侧、敞开的柜门附近移动，未见持鸡腿离开右侧取物位置或将鸡腿带到锅上；视频 31.4–32.3 s 没有入锅后的棕色鸡腿线索。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "推断：log step 48 选择 final_0.006.npz，形状为 2906 条动作；对应脚本在 log step 46 输出鸡腿仍在约 (2.835, -0.517, 0.956)，log step 47 输出锅停在约 (1.482, -0.492, 0.935)。这些交付分支的调试读数与视频中锅一直留在左侧、无鸡腿搬运相符，辅助判断鸡腿与锅的中心距离并未满足本步；不把独立测试 log step 37 的搬鸡腿结果计入。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 38、43 的交付脚本含抓鸡腿、搬运和放开动作；视频 27.0–31.0 s 可见机械臂执行后续动作，但右侧鸡腿及白盘在画外、部分夹爪动作被柜门遮住，不能核实夹爪与鸡腿实际接触的方式；没有已验证的抓握。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.5, + "log_step": null, + "text_zh": "观察：视频 25.5–28.5 s 机器人仍在灶面左侧柜门附近活动，可见炉圈始终是灰色，没有右后炉圈发红的开启线索。" + }, + { + "t": 32.3, + "log_step": null, + "text_zh": "观察：视频 31.4–32.3 s 可见的灶面炉圈仍无红光；对照成功参考录像的参考视频 30.9–32.7 s，开启的右侧炉圈会明显发红，本次未出现该线索。" + }, + { + "t": null, + "log_step": 47, + "text_zh": "观察：log step 47 中，被 log step 48 选为交付的 0.006 分支输出 knob 0.0、knob after release 0.0；这是该脚本的调试输出，与本次视频的未发红炉圈相符。独立测试 log step 37 的旋钮开启不属于交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 38、43 的交付脚本调用转旋钮程序；视频 25.5–28.5 s 机械臂有相应后续动作，但夹爪部分被柜门挡住，未见夹爪在右后炉头对应旋钮两侧夹合，也未见拨动该旋钮。实际夹爪—目标旋钮接触无法核实，不将程序的闭爪命令当成抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 9.8, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 9.3–12.0 s 机器人在台式烤箱前抵锅推移，锅未进入灶面；视频 14.0–24.0 s 继续推锅仍停在烤箱前，视频 24.5 s 抬手后锅留在白色台面，直到视频 32.3 s 也未修复。因此最早未完成且未修复的步骤是锅放右后炉头，视频 9.8 s 为受阻阶段的导航锚点。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 9.8, + "log_step": 30, + "evidence_zh": "推断：视频 9.3–12.0 s 锅被向后推到台式烤箱前下沿附近后不再明显前进，视频 14.0–24.0 s 持续抵推也只小幅移动。log step 30 的场景几何测量给出烤箱占据 x=1.139–1.546、y=-0.400–-0.020、z=0.925–1.268 米，交付分支 log step 45、47 的锅中心停在烤箱前侧附近；结合画面判断锅沿被烤箱阻挡，未能通过此处到达炉头。具体接触点被手臂部分遮住，不据 agent 自述追加锅柄卡旋钮这一未核实细节。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 38 的搬锅方案及 log step 43 的交付修改，在锅仍位于烤箱前时先朝 (1.73, -0.22) 米低位平推，再朝 (2.5, -0.22) 米平推；没有先让整个锅体绕开烤箱的横向范围。log step 30 已测得烤箱前沿 y=-0.40 米、右沿 x=1.546 米，所选向后斜推路线在锅尚未清出烤箱侧面时就把锅沿推向烤箱；视频 9.3–12.0 s 及视频 14.0–24.0 s 的停滞支持这一绕障规划错误。该归因针对选定推移路线，不把后续旋钮和鸡腿动作的逆解报错反推为搬锅断点的原因。" + } + ], + "gap_zh": "没有状态日志，不能直接读取实际接触对、精确中心距和力。受阻物为烤箱的判断结合了视频前后画面及 log step 30 的场景几何测量，锅沿接触点部分被机械臂遮挡；agent 在 log step 49 所称锅柄卡前左旋钮未能独立核实。鸡腿及右侧白盘一直在本次取景范围之外，后续部分夹爪动作被柜门挡住，因此鸡腿和旋钮步骤的 contact_actual 保留未知；鸡腿入锅为结合可见空锅、无搬运过程及交付分支调试读数的推断。评分器未报告 DAG 的三个距离指标，均填 null；不将 2906 条动作按控制频率直接换算成这段录像的时间。", + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + } + }, + "summary_zh": "评分录像中机器人把锅从橱柜拖出并翻落到白色台面，随后反复推锅但始终未到右后炉头，三个节点最终均未完成。断点是视频约 9.8 s 的搬锅受阻：结合场景几何与推移脚本，所选路线过早向烤箱方向推锅，未为锅体规划绕障净空；后续开炉与鸡腿动作也未产生目标状态。无状态日志，鸡腿原位在画外且部分夹爪被柜门遮挡，相关实际接触保留未知。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点均未达成、断点为锅放右后炉头，与视频和交付分支日志一致；被烤箱/旋钮阻挡的推断有 log step 30 几何和交付分支锅位置 (1.48,-0.49) 支持，未发现需改动的内容。", + "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": "2026-10-30T03:21:07Z", + "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-searing-meat-i00-privileged--vutxavc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-privileged--vutxavc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df2017bfd5a4108de22d36a97c0b031fa375ff1f47c6ccdcec61043c147ce88f", + "video_sha256": "156ad7b821a40a52bfd0389ba6710e109ee3ce30e32759d5169ec7431a838278", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--aqewdr5.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--aqewdr5.json new file mode 100644 index 0000000000000000000000000000000000000000..8018abaeecc012f40783ce1e9df9ec05dfcbea91 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--aqewdr5.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--aqewdr5", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 3298, + "n_actions": 3298, + "sim_steps": 3298, + "calls": 247, + "elapsed_s": 3711.2, + "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": 0.524, + "peak_processes": 9, + "peak_disk_gb": 1.291, + "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-searing-meat-i00-standard--aqewdr5/replay.mp4", + "duration_s": 33.1, + "fps": 10.0, + "frames": 331, + "sha256": "4fe88c38e7ca96359a6d0d7f61b1623f85f3564d0d5e668f617cf023d6ebeb0c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅位于已敞开的上方橱柜层板，尚未接触右侧灶面。" + }, + { + "t": 16.8, + "log_step": 200, + "text_zh": "观察：视频 16.0–17.4 s 机器人在锅柄一侧操作，锅仍留在层板上；log step 196、199–200 记录夹爪闭合和抬升测试。推断：这次夹取没有形成可搬运锅的夹持。" + }, + { + "t": 31.9, + "log_step": 402, + "text_zh": "观察：视频 31.5–31.9 s 机器人抬起手腕，平底锅没有随手离开层板；视频 32.0–33.0 s 逐帧检查仍见锅在柜内。log step 401–402 记录最后一次夹持抬升测试，未见实际搬锅到灶面的画面。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人单臂二指夹爪在视频 13.0–17.4 s、22.0–23.5 s 和 28.0–31.9 s 多次靠近锅柄并开合；手指与锅柄的接触面被手腕、柜门和视角遮挡，不能确认实际擦碰方式或两指夹住锅柄，不将闭爪命令记为已抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人为取锅移动底盘，视频 17.0–19.0 s、24.0–26.0 s 柜门和层板相对相机明显移位；log step 212–228、324 记录对应取锅阶段的底盘进退与横移。底盘支承机械臂，锅未被带走。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 柜内平底锅中未见鸡腿。" + }, + { + "t": 33.0, + "log_step": null, + "text_zh": "观察：视频 0.0–33.0 s 机器人始终主要在橱柜前取锅，未见把食物送入锅；视频 31.0–31.9 s 与 32.8–33.0 s 锅内可见区域为空，锅仍在层板上。推断：鸡腿入锅关系未建立；鸡腿原来的白盘区域在本次视野外，不据此声称观察到白盘状态。" + } + ] + }, + "rear_right_burner_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 33.0, + "log_step": 418, + "text_zh": "观察：视频 32.0–33.0 s 机器人在橱柜下方电器前侧伸手，右侧灶面仅露出左部，目标右后炉圈及其对应旋钮没有清晰入镜；log step 411–420 记录接近旋钮、下降躯干和推进底盘，但没有报告炉头角度。参考成功视频 32.5 s 可见右侧红圈，本次没有拍到该区域的同等视野。推断：无法确定本次右后炉头的初态、是否开启或最终角度，不能由总评分为零单独判定此节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 32.0–33.0 s 机器人伸手，log step 411–418 的命令意图为接近炉头旋钮；实际右后炉头旋钮未清晰可见，无法确认夹爪是否接触以及接触方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 32.8–33.0 s 场景随机器人底盘推进而移位；log step 419–420 记录为接近灶台而向前驱动及停止。底盘在这次开炉尝试中支承机械臂。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 16.8, + "log_step": 200, + "where": "操作中", + "evidence_zh": "观察：视频约 16.8 s 的取锅操作后，锅没有离开橱柜层板；log step 196、199–200 记录闭爪后抬升测试。视频 22.0–23.5 s 及 28.0–31.9 s 后续尝试仍未把锅取出，直到视频 33.0 s 锅仍在柜内。推断：锅放右后炉头是最早尝试后始终未完成的步骤，末段转向旋钮也未修复此步骤。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 16.8, + "log_step": 200, + "evidence_zh": "观察：视频 16.0–17.4 s 锅仍留层板，视频 31.5–31.9 s 机器人抬起手腕而锅没有随动；log step 196、199、398、401 分别记录闭爪和抬升测试。推断：机器人没有建立能把锅带走的夹持接触；画面未显示锅先被稳定拿起再滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 196、199 记录机器人闭爪及抬升测试；log step 197 服务反馈末端为 [1.38028, -0.23152, 1.50584] m，相对 log step 194 的下降目标 [1.38, -0.23, 1.49] m 仍有约 15.8 mm 的高度差。log step 200 的实际末端为 [1.37998, -0.23001, 1.56963] m，距 log step 199 的抬升目标 [1.38, -0.23, 1.57] m 约 0.38 mm；log step 402 的末端距 log step 401 的抬升目标约 1.63 mm。视频 16.0–17.4 s 和 31.0–31.9 s 显示机器人操作及抬手后，锅仍留在层板上。推断：机器人闭爪和抬升未建立能搬运锅的夹持；两次抬升已接近各自目标，不能用 log step 137、175 的早期位置偏差解释此失败。夹爪与锅柄接触面有遮挡，无法明确区分抓取几何不适配、局部碰撞阻挡或其他精细控制问题，依据 docs/03_trajectory.md Step 3.3 保留控制大类。" + } + ], + "gap_zh": "没有状态日志。右后炉圈及其旋钮始终缺少足以判断开启状态的视野，评分器只报告整体失败，故开炉节点为 unknown；参考成功录像只用于辨认开启线索，不作为本次炉头状态证据。夹爪与锅柄的局部接触面有遮挡，实际接触方式记未知，无法将控制根因细分。DAG 的三项原生距离指标均未由评分器报告。" + }, + "summary_zh": "机器人反复尝试从柜内取锅，但锅直到视频 33.0 s 仍在层板，锅放右后炉头与鸡腿入锅两个节点均未完成。最早未修复的断点是取锅阶段未建立可搬运的夹持；log step 200、402 的抬升末端已接近目标而锅未随动，根因保留控制大类，不再以早期末端位置偏差推断跟踪失败。右后炉头和对应旋钮缺少清晰视野，开炉节点保留未知；局部接触遮挡也限制了根因细分。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（取锅未完成、入锅未完成、开炉 unknown）、断点（取锅阶段，约视频 16.8 s）与现象“没建立接触”与视频和日志一致。问题在根因：控制根因的证据用 log step 137/175 的目标与反馈偏差支持“执行未能到位”，但真正闭爪和抬升测试时（log step 197、200）末端已在目标 2 mm 内，该偏差是移动中途读数，不支持跟踪失败；应改写证据，并按判别次序改为抓取和接触设计（反复换抓法均失败）或停在“控制”但不得用跟踪误差作依据。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（取锅未完成、入锅未完成、开炉 unknown）、断点（取锅阶段）、现象“没建立接触”和保留控制大类的根因都与视频和日志一致；上一轮的根因证据问题已按要求改写，没有新证据需要再改。", + "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": "2026-10-30T03:27:08Z", + "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-searing-meat-i00-standard--aqewdr5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--aqewdr5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--aqewdr5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--aqewdr5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a01d9d7a8249da25db8d7eb15444ebd770953b1d4fbfb2c0e85b247998e5dadd", + "video_sha256": "4fe88c38e7ca96359a6d0d7f61b1623f85f3564d0d5e668f617cf023d6ebeb0c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--bqxbmrz.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--bqxbmrz.json new file mode 100644 index 0000000000000000000000000000000000000000..35ea2f387c22308828cd66e75dfaea22e6af0477 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--bqxbmrz.json @@ -0,0 +1,227 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--bqxbmrz", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 3352, + "sim_steps": 3352, + "calls": 55, + "elapsed_s": 2399.5, + "final_reward": 0.0, + "video_rendered": 1, + "sim_error": 0, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robocasa365-searing-meat-i00-standard--bqxbmrz/replay.mp4", + "duration_s": 30.6, + "fps": 10.0, + "frames": 306, + "sha256": "3f88394cb071badfe82bcdf27ab8710a37b81491b5f60edbe03a8c9bf5767e30" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–8.1 s，黑色平底锅在敞开的上柜层板上，尚未放在右侧六炉头灶面；视频 8.2–9.4 s，机器人二指夹爪夹着锅柄将锅抽出并随底盘后退、转向，锅仍悬空。" + }, + { + "t": 9.5, + "log_step": 65, + "text_zh": "观察：视频 9.3–9.6 s，底盘转动时锅倾斜并离开夹爪，随后夹爪为空；视频 21.0–24.7 s 可见黑锅仍在原柜前地板上。log step 65 的转向命令保持 grip=1，log step 69 中 agent 自述锅在转弯时滑落，与画面顺序相符；这里未将 agent 时间换算为视频时间。" + }, + { + "t": 30.5, + "log_step": 142, + "text_zh": "观察：视频 24.0–30.5 s 的灶面始终没有平底锅，末段机器人只在灶旁器具筒附近伸手、闭合夹爪并撤回；log step 142 的最终记录也报告未回收锅。推断：掉锅后本步没有修复，全程未达到锅触灶面且位于右后炉头附近的条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.2–9.4 s，单臂二指夹爪夹住黑锅锅柄，锅离开柜内层板并随手移动；视频约 9.5 s 失去夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8.7–9.5 s，移动底盘支承机械臂持锅后退并转向；视频 14–24 s 继续移动、查看落锅区域和前往灶台，锅未被带走。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 0.0–9.4 s，柜内及刚被提取的黑锅中没有鸡腿；机器人随后掉锅。视频 24.0–29.9 s，棕色鸡腿仍在灶台右侧白盘里，机器人末段伸手的目标在白盘后方器具筒附近，未把鸡腿提离白盘。" + }, + { + "t": 30.5, + "log_step": 143, + "text_zh": "观察：视频 29.5–30.5 s 逐帧检查可见鸡腿留在白盘上，灶面没有锅；log step 143 中 agent 最终自述鸡腿仍在盘中。推断：没有发生鸡腿入锅，本步最终为假。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.0, + "log_step": null, + "text_zh": "观察：视频 24.0–30.5 s 灶面逐渐完整进入视野，六个炉圈均保持灰黑色，右后炉圈没有发红；机器人没有到灶台前沿拨转旋钮的动作。成功参考 inputs/oracle/replay.mp4 的视频 32.4–32.8 s 可见锅下露出的红炉圈，此处仅用来确认本相机中开启线索的外观。" + }, + { + "t": 30.5, + "log_step": 142, + "text_zh": "观察：视频 29.5–30.5 s 逐帧检查，右后炉圈仍未发红；log step 142 的最终记录称机器人未刻意操作炉头，log step 143 中 agent 也自述未开炉。推断：结合全程没有操作目标旋钮的动作，本步从未达到且末态关闭。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 9.5, + "log_step": 65, + "where": "操作中", + "evidence_zh": "观察：视频 8.2–9.2 s，机器人夹住锅柄将锅取离上柜并后退；视频 9.3–9.6 s，机器人持锅转动底盘，锅倾斜后脱离夹爪，夹爪随后为空。视频 21.0–24.7 s 可见锅留在柜前地板，视频 30.5 s 灶面仍无锅。推断：首次未修复的失败发生在锅放右后炉头这一步的搬运过程中，后续回收与寻找器具没有完成该步。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 9.5, + "log_step": 69, + "evidence_zh": "观察：视频 8.2–9.2 s，黑锅离开原层板且锅柄随夹爪移动，证实已经持住；视频 9.3–9.6 s，转弯中的锅倾斜、脱离夹爪，随后手中无锅，视频 21.0–24.7 s 可见其落在柜前地板。log step 69 中 agent 自述“锅在转弯时滑落”。推断：这是搬运途中失去已建立的夹持，而非到目标处计划放手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 9.5, + "log_step": 65, + "evidence_zh": "推断：夹持与移动控制未能在转向负载下稳定承载锅。视频 8.2–9.6 s 显示机器人曾将锅提起，却在底盘转向时使其倾斜、脱手；log step 62 的后退命令与 log step 65 的转向命令均明确保持 grip=1，log step 67 的反馈中手指位置由 log step 64 的约 [0.0192,-0.0183] 变为近闭合 [0.0000,-0.0013]，与视频中丢失锅柄相符。没有证据把该控制失败进一步确定为夹持几何、夹力或转弯轨迹中的某一项。", + "source_zh": "日志 / 视频", + "note_zh": "控制子类型证据不足，使用上位条目“控制”。" + } + ], + "gap_zh": "本次没有状态日志；视频显示锅脱手前后及后来落地的位置，但掉落瞬间部分受柜门和机械臂遮挡。缺少接触对、夹持力和负载反馈，无法区分夹持几何、夹力不足或转向动态造成的具体控制子类型，也不据此追加碰撞现象。评分器未报告 DAG 三项距离指标，native_metrics 的值均为 null；节点关系与断点采用视频时钟，未把服务控制步数或 agent 时间换算为视频时间。" + }, + "summary_zh": "机器人将平底锅从已敞开的上柜中夹出，但在视频约 9.5 s 持锅转向时掉锅，之后未能回收，三个目标节点均未达到，末态为 0/3。视频 30.5 s 仍显示鸡腿在白盘上、灶面无锅且右后炉圈未发红；断点为锅放右后炉头的操作中，现象为没保持住，根因仅能确定到控制。无状态日志及力反馈，具体失稳机制不能细分。", + "conf": 8, + "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，标签与视频和日志一致。锅在视频约 9.5 s 转向时脱手，随后落在柜前地板（21 s 可见），灶面无锅，鸡腿仍在白盘，炉圈未红。三个节点均为 false，断点和现象成立，根因停在“控制”也有依据。", + "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": "2026-10-30T03:06:19Z", + "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-searing-meat-i00-standard--bqxbmrz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--bqxbmrz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a9e06a227e5fc5cff2e891d506e8f254fcfe6322cc02defee101f6ea7f918e19", + "video_sha256": "3f88394cb071badfe82bcdf27ab8710a37b81491b5f60edbe03a8c9bf5767e30", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ergd58t.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ergd58t.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a109dcaea8ee8ff4de7d72221fc4fdcf3a975d --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ergd58t.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--ergd58t", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 2148, + "sim_steps": 2148, + "calls": 293, + "elapsed_s": 988.7, + "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": 0.242, + "peak_processes": 10, + "peak_disk_gb": 1.003, + "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-searing-meat-i00-standard--ergd58t/replay.mp4", + "duration_s": 30.8, + "fps": 10.0, + "frames": 308, + "sha256": "0d914e1205f1622319177502a2c8ee76815ced37e3afd766bf9a167f1cdecbbf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅平放在敞开橱柜的层板上，尚未接触右侧黑色灶面。" + }, + { + "t": 27.3, + "log_step": null, + "text_zh": "观察：视频 27.3 s 机器人底盘转回灶台，锅仍在柜内层板上；视频 29.8–30.7 s 机械臂在柜外下方运动，锅始终未离开原处，灶面没有锅。" + }, + { + "t": 30.4, + "log_step": 102, + "text_zh": "推断：视频 29.8–30.7 s 的末段伸手未建立取锅接触；log step 102 记录机器人执行朝锅的七轮末端伺服后闭爪，末端仍远离脚本目标，且录像中锅没有随臂移动，故本步从未达到。日志工作时间未换算为视频时间。" + }, + { + "t": 30.4, + "log_step": null, + "text_zh": "观察：对比视频 29.8、30.0、30.2、30.4、30.6、30.7 s，机器人单臂抬起后碰到右侧敞开的橱柜门并推动门板，门的角度随之明显改变；黑色平底锅仍平放在柜内层板原处。夹爪是否曾轻触锅体无法从这些画面确定，未见夹住或搬动锅。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–5.0 s 及视频 13.0–27.5 s，移动底盘带动机械臂离开、绕行并返回取锅工作位，轮地支承随移动发生；锅留在橱柜。末段闭爪未夹住锅，不把空夹记为已发生的抓握接触。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 2.4 s 鸡腿仍在灶台右侧白盘上，锅在橱柜层板上，机器人未持鸡腿。" + }, + { + "t": 27.3, + "log_step": null, + "text_zh": "观察：视频 27.1–27.3 s 回到灶台时，右侧白盘仍有棕色鸡腿；视频 27.4–30.7 s 柜内锅保持空置，机器人未向锅内放入鸡腿。" + }, + { + "t": 30.7, + "log_step": null, + "text_zh": "推断：结合视频首段和返回灶台后的鸡腿位置、末段锅内无鸡腿及全片未见搬运鸡腿，本步从未达到；最后白盘虽出画，空锅仍可见。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.3, + "log_step": null, + "text_zh": "观察：视频 27.3 s 黑色灶面四个炉圈均呈灰白轮廓，右后炉头没有发红；视频 27.5–30.7 s 右后炉圈持续可见且不发红，机器人未操作其旋钮。" + }, + { + "t": 30.7, + "log_step": null, + "text_zh": "推断：全片机器人主要移动底盘，末段只朝柜内锅伸手，未见开炉操作；与成功参考录像视频 32.4–32.8 s 锅下明确发红的右后炉圈比较，本次可见炉圈缺少开启线索，判为从未开启。参考录像仅用于辨认线索，不作为本次完成证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 30.0, + "log_step": 102, + "where": "操作中", + "evidence_zh": "观察：视频 29.8–30.7 s 机器人机械臂向柜外下方伸动，锅仍平放在橱柜层板上，没有被提起或送往炉头；log step 102 的实际执行脚本在七轮朝锅伺服后直接闭爪，输出末端位置仍与脚本目标相差约 0.69 米。该取锅失败直到回合结束未修复，因此断点属于锅放右后炉头这一步。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 30.0, + "log_step": 102, + "evidence_zh": "推断：视频 29.8–30.7 s 可见机械臂始终在锅的下方及柜外，锅未移动；log step 102 闭爪后的末端坐标仍为 (1.170, -0.947, 1.077)，朝锅的脚本目标为 (1.20, -0.30, 1.30)。结合连续画面及这次实际伸手记录，机器人没有夹住锅，不能按持住后滑脱判断。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 102, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 102 的执行脚本每轮读取末端位置，但只运行七轮便无到位检查地闭爪；其本体反馈末端为 (1.170, -0.947, 1.077)，距脚本目标 (1.20, -0.30, 1.30) 仍约 0.69 米。视频 29.8–30.7 s 机器人伸手并推动柜门，锅始终未被夹起。控制脚本在明显未到抓取目标时仍切换到闭爪，支持控制层的到位检查缺失；固定雅可比、有限轮数及站位各自对未到位的贡献不能据此区分，故不再细分为反馈控制。" + } + ], + "gap_zh": "没有模拟器状态日志、锅体接触对或关节限位记录；末段夹爪局部位于画面下缘或被手臂遮挡，未建立抓取接触由前后画面及实际执行日志共同推断。log step 100 的服务本体反馈末端 (1.242, -1.287, 1.291) 距 log step 102 的脚本目标约 0.99 米，但这是末端到目标的距离，不能直接当作肩部到目标的距离或可达性判据；log step 100 还执行了靠近底盘命令，不能认定完全没有尝试靠近。没有独立臂展、可达域或限位证据，无法区分站位不可达与伺服未收敛；agent 在 log step 103 自述的约 0.85 米臂展待核实，故不标够不着，也不认定站位规划是已证实根因。三个原生距离指标评分器均未报告，值保留 null。未建立控制步到视频时钟的映射，日志仅引用步骤编号。" + }, + "summary_zh": "本次三个节点均未达到，末态为 0/3：锅仍在敞开橱柜内，鸡腿未入锅，右后炉头未开启。断点是锅放右后炉头：机器人末段伸手推动柜门但未夹起锅，执行脚本在末端仍距目标约 0.69 米时直接闭爪，根因仅标控制大类。无状态日志且夹爪局部遮挡，站位可达性与伺服子类无法区分，原先反馈控制归因过细，因此置信度由 8 降至 7。", + "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、末态 0/3 和断点（锅放右后炉头，视频约 30 s）与画面一致；但根因「反馈控制」证据不足，日志里的末端读数显示是在离锅约 1 m 的站位下伸手，更像规划（站位/可达性）问题；末段手臂碰动柜门也未记录。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达到（0/3）与视频一致：锅始终在柜内层板，鸡腿留在白盘，炉圈不发红；断点为取锅（锅放右后炉头）、证据与 log step 102 吻合；根因停在“控制”大类、站位与伺服不分，符合判别次序且 gap_zh 说明充分。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": "2026-10-30T03:26:55Z", + "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-searing-meat-i00-standard--ergd58t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--ergd58t/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--ergd58t/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--ergd58t/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "26391db555dc5e9037525974807617724971b082d4bc078b174c82fa32303e2d", + "video_sha256": "0d914e1205f1622319177502a2c8ee76815ced37e3afd766bf9a167f1cdecbbf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--gav34wq.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--gav34wq.json new file mode 100644 index 0000000000000000000000000000000000000000..c72bde51328243ef545534ef773336ce7bfbd480 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--gav34wq.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--gav34wq", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "initial_success": 0, + "finalized": 1, + "control_steps": 3271, + "n_actions": 3271, + "sim_steps": 3271, + "calls": 309, + "elapsed_s": 2627.7, + "final_reward": 1.0, + "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": 1.009, + "peak_processes": 11, + "peak_disk_gb": 0.931, + "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-searing-meat-i00-standard--gav34wq/replay.mp4", + "duration_s": 32.9, + "fps": 10.0, + "frames": 329, + "sha256": "3775ba71d52e2e9937a220bc20dbfed44f96eafe209f406d6ad4c072085e176e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [ + [ + 28.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅在敞开的上方橱柜层板上，尚未接触灶面；视频 10.6–11.4 s 锅从柜前落到下方白色台面，尚未到炉头。" + }, + { + "t": 20.5, + "log_step": 114, + "text_zh": "观察：视频 18.0–25.8 s 机器人夹爪夹着锅柄，随机器人沿台面向右移动而拖动锅，锅从白色台面进入黑色灶面；log step 114、117、120–121 记录了夹持锅柄期间发送底盘移动命令。" + }, + { + "t": 28.0, + "log_step": 136, + "text_zh": "推断：视频 27.8–28.4 s 机器人闭合夹爪抵住锅内侧继续推移，锅底始终落在灶面，锅逐渐靠近右后炉圈，约视频 28.0 s 进入允许偏心的范围，首达时刻误差约 0.5 s。视频 28.8–32.8 s 锅保持该位置；log step 151 中 agent 的相机深度估计为距右后炉头约 0.115 m，此为其估计而非评分器实测，末态达标另由 run.json 的 live_success=1 支持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住锅柄，视频 18.0–25.8 s 搬拖平底锅向灶面移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 18.0–25.8 s 机器人沿台面向右移动，夹爪持锅柄拖锅；log step 114、117、120–121 记录底盘驱动，底盘在移动时支承机械臂。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 12.0–16.0 s 及视频 27.0–28.4 s，机器人夹爪接触锅内侧或锅沿推移平底锅，末段采用闭合夹爪抵推。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [ + [ + 30.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.4, + "log_step": 139, + "text_zh": "观察：视频 28.8 s 鸡腿仍在灶旁右侧白盘，机器人二指夹爪在视频 29.0–29.4 s 夹住并提起鸡腿；白盘随即变空，鸡腿随夹爪离开原位。" + }, + { + "t": 30.1, + "log_step": 140, + "text_zh": "推断：视频 29.8–30.2 s 机器人将鸡腿降入锅中并张开夹爪；视频 30.2 s 可见鸡腿留在锅内，约视频 30.1 s 与锅建立接触，时刻误差约 0.2 s。" + }, + { + "t": 32.8, + "log_step": null, + "text_zh": "观察：视频 32.4–32.8 s 鸡腿稳定留在黑锅内靠近中心处，白盘为空，机器人夹爪已离开鸡腿；run.json 的评分器字段 live_success=1、final_reward=1.0。" + }, + { + "t": 32.8, + "log_step": null, + "text_zh": "推断：末帧可见关系与实时成功判决一致，鸡腿接触锅且中心距离满足该回合验收；无状态日志，不能从图像独立精确测量 0.07 m 边界。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 29.0–30.2 s 机器人二指夹爪从两侧夹住鸡腿，将其从白盘提起并搬到锅内，随后张开释放。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [ + [ + 31.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.4, + "log_step": null, + "text_zh": "观察：视频 0.0–30.4 s 未见炉圈发红。视频 30.6–31.3 s 机器人转动右侧一个旋钮后，锅前方的炉圈先发红；仅此尚不足以判定右后炉头开启。" + }, + { + "t": 31.8, + "log_step": 145, + "text_zh": "推断：视频 31.4–32.2 s 机器人又夹住旁边的旋钮并旋转，约视频 31.8 s 锅后侧露出的右后炉圈也开始发红，达标时刻误差约 0.3 s；log step 144、145 记录机器人依次夹紧并转动两个右侧旋钮。" + }, + { + "t": 32.8, + "log_step": null, + "text_zh": "观察：视频 32.4–32.8 s 夹爪退开后，锅后侧及前侧均露出红色炉圈，右后炉头保持开启；run.json 的 live_success=1 支持末态对应旋钮已在验收角度范围内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 30.6–32.2 s 机器人二指夹爪先后从两侧夹住右侧两个旋钮并转腕，随后松开；视频末段右前和右后炉圈均发红。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人将掉落至台面的平底锅继续夹持拖向灶面，并用闭合夹爪推到右后炉头允许范围；随后从白盘夹起鸡腿放入锅内，依次转动右侧两个旋钮，最终三个目标节点均成立，与实时评分 success=1 一致。视频 32.4–32.8 s 可见鸡腿留在锅内、右后炉圈发红且夹爪退离，早期取锅受挫已修复，无失败断点。无状态日志，放锅首次进入距离阈值的时刻及旋钮角度依图像与末态评分推断，三个原生距离指标未由评分器报告，均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个目标节点的达成时刻（锅约28.0 s、鸡腿约30.1 s、炉头约31.8 s，均为视频时钟）与帧一致，末态与live_success=1一致，成功无断点；接触标注与帧相符。", + "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": "2026-10-30T03:12:41Z", + "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-searing-meat-i00-standard--gav34wq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--gav34wq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "90572367cd57031014313b695b14de56228b31e2b704993de12fe188a336873b", + "video_sha256": "3775ba71d52e2e9937a220bc20dbfed44f96eafe209f406d6ad4c072085e176e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ndpshuz.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ndpshuz.json new file mode 100644 index 0000000000000000000000000000000000000000..9f41bc7792b5552fcff839e4ae62aa3d187fd7d0 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--ndpshuz.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--ndpshuz", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 9834, + "n_actions": 9834, + "sim_steps": 9834, + "calls": 525, + "elapsed_s": 3638.9, + "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": 0.324, + "peak_processes": 8, + "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-searing-meat-i00-standard--ndpshuz/replay.mp4", + "duration_s": 30.9, + "fps": 10.0, + "frames": 309, + "sha256": "fd9f1276ad17f3e8f8a2372b5163b513a0e11afa0518120f630bab4e6d32f283" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅位于上方已敞开的橱柜层板，右侧灶面没有锅。" + }, + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 1.2–5.4 s 机器人夹爪反复向柜前和锅柄附近伸出、转动并退回，锅仍留在层板；视频 7.0–21.9 s 的后续尝试也未把锅带出。" + }, + { + "t": 22.4, + "log_step": null, + "text_zh": "观察：视频 22.3–22.5 s 夹爪碰动锅，使锅短暂翘起后落回柜内；视频 25.2 s 机器人空手移向灶台，黑锅仍在层板。" + }, + { + "t": 30.8, + "log_step": null, + "text_zh": "观察：视频 29.7–30.8 s 可见灶面无锅，柜内仍露出黑锅；全段没有锅接触右后炉头的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 22.3–22.5 s 单臂二指夹爪抵碰柜内锅沿附近，锅被拨得翘起后落回层板；没有可确认的双指夹住锅柄并持锅搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 13.1–14.5 s 及视频 25.2–26.0 s 工作视角随底盘平移改变；底盘支承机械臂调整取锅工作位并空手移向灶台。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.4 s 右侧白盘上可见棕色鸡腿，锅在另一个位置的柜内。" + }, + { + "t": 28.3, + "log_step": null, + "text_zh": "观察：视频 27.7–28.9 s 机器人夹爪在白盘鸡腿上方下降并尝试夹取，视频 29.1 s 夹爪移向左侧灶面时鸡腿仍留在原白盘上。" + }, + { + "t": 30.8, + "log_step": null, + "text_zh": "观察：视频 29.7–30.8 s 鸡腿仍在右侧白盘，灶面没有锅或鸡腿，未发生鸡腿入锅。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 27.7–28.9 s 机器人单夹爪伸到白盘鸡腿处，但腕部遮住部分指尖接触区域，不能确认是否形成双侧夹持或只是擦到；视频 29.1 s 鸡腿仍在白盘。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 26.6–27.7 s 底盘移向右侧鸡腿白盘工作位，支承机械臂开展夹取尝试。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 露出的灶面炉圈为灰色，未见开启时的红圈。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 29.7–30.3 s 机器人空夹爪靠近左侧黑色控制面板，随后抬臂；视频 30.4–30.8 s 右后炉圈仍为灰色，未见旋钮成功开启对应炉头的结果。" + }, + { + "t": 30.8, + "log_step": null, + "text_zh": "推断：本次视频末段完整露出的右后炉圈没有发红，与成功参考视频 32.4–32.8 s 锅下明显的红圈不同，判定右后炉头未开启；参考仅用于识别视觉线索。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 29.7–30.3 s 单夹爪靠近黑色旋钮面板，指尖与旋钮交界在低分辨率画面中不清，不能确认实际夹住或拨到哪个旋钮。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 29.5–29.9 s 底盘向左移动，把机械臂带回黑色旋钮面板前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 4.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.2–5.4 s 机器人开始在橱柜前反复伸夹爪取锅，视频 4.4 s 夹爪已靠近柜内锅但未带走锅；后续重试至视频 25.2 s 离开时锅仍在柜内。这是最先尝试而始终未修复的步骤，末段转去鸡腿和旋钮操作没有补成放锅。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.4, + "log_step": null, + "evidence_zh": "观察：视频 4.4–5.4 s、视频 7.0–8.6 s 及视频 14.5–21.9 s，机器人夹爪反复靠近锅又空手退回，未形成能取走锅的夹持；视频 22.4 s 虽把锅碰得翘起，视频 22.5 s 锅就落回层板，视频 25.2 s 仍未取出。这里缺失的是有效抓取接触，短暂拨碰不作为已持住后滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：机器人取锅的位置伺服与夹爪命令配合未能建立有效抓取。log step 52 的脚本要求夹爪到达 [1.32,-0.16,1.435] 米，输出却为 [2.148,-0.807,1.967] 米；log step 59 的接近误差也在迭代中增大，表明执行未收敛。log step 27 定义 servo 的默认 grip=-1（张开），log step 51、55 保留该默认值，而 log step 53、67 在闭爪后调用提升 servo 时未传入保持闭爪的参数，会重新发送张开命令；这与视频反复空手退回、锅未搬出的结果一致。", + "note_zh": "位置执行和夹爪保持均有代码或反馈证据，保留在控制大类，不据此猜测力值、不可达性或感知偏差。" + } + ], + "gap_zh": "没有仿真状态日志或逐节点评分字段，三个原生距离指标未报告，无法给出精确距离、接触力和旋钮角度。视频足以判定三个节点均未达到，但鸡腿夹取及旋钮操作的指尖局部被遮挡或分辨率不足，实际接触方式记未知；取锅时可确认拨碰，不能确认曾形成对向抓握。视频时间均直接取自所查帧，未把 agent 工作时间或 9834 个控制步换算为视频时间。" + }, + "summary_zh": "机器人反复伸入橱柜取锅，但锅只被短暂拨得翘起后落回层板，始终未放上右后炉头；末段鸡腿仍在白盘，右后炉圈未发红，三个目标节点均未达到。最早未修复的断点为锅放右后炉头，有效抓取接触没有建立，日志中的位置伺服不收敛和提升时重发张开夹爪命令支持控制归因。无状态日志，鸡腿和旋钮的局部接触方式及精确距离、角度无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频抽帧（4.4、22.0–22.6、25.2、28.3、30.8 s）与标签一致：锅始终留在橱柜层板，鸡腿仍在白盘，灶面无锅、右后炉圈灰色；三节点未达成、断点为取锅、没建立接触、控制根因均有 log（step 52/53/67 的 servo 默认 grip=-1 与伺服误差发散）支持。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": "2026-10-30T03:04:39Z", + "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-searing-meat-i00-standard--ndpshuz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--ndpshuz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cc4908010e80c9d3868bb9ec272eac43136e3f3a19774da2d734790ba95e8316", + "video_sha256": "fd9f1276ad17f3e8f8a2372b5163b513a0e11afa0518120f630bab4e6d32f283", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--p9pbjxc.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--p9pbjxc.json new file mode 100644 index 0000000000000000000000000000000000000000..74821cf9024898fa82482675b24f28a3197f05c9 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--p9pbjxc.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--p9pbjxc", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "replay_success": 0, + "live_success": 0, + "finalized": 1, + "control_steps": 4566, + "sim_steps": 4566, + "calls": 537, + "elapsed_s": 3321.1, + "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": 0.477, + "peak_processes": 6, + "peak_disk_gb": 0.288, + "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-searing-meat-i00-standard--p9pbjxc/replay.mp4", + "duration_s": 30.6, + "fps": 10.0, + "frames": 306, + "sha256": "e03ac7e51acb352818deb4726f91099b1f45dca64c318fb0e75902c6fe3e5053" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑锅仍在敞开橱柜的层板上，右侧灶面没有锅。" + }, + { + "t": 24.5, + "log_step": null, + "text_zh": "观察：视频 21.1–24.5 s 机器人二指夹爪夹持锅柄，锅随机械臂及底盘移动离开层板；视频 24.6–25.1 s 锅在橱柜门旁翻成近竖直，仍在灶面左侧，未落在炉圈上。" + }, + { + "t": 25.3, + "log_step": 538, + "text_zh": "观察：视频 25.2–25.5 s 锅与夹爪分离并向台面外下落，视频 25.7 s 可在画面底部看到地面的锅柄；机器人随后空手移动，至视频 30.5 s 灶面仍无锅。log step 538 的机器人放锅程序按预定序列主动打开夹爪；其输出“Pan placed!”是脚本自报，画面不支持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 21.1–25.1 s 单臂二指夹爪夹住锅柄，锅随夹爪离开橱柜并搬动，随后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 21.1–24.3 s 机器人持锅时相机与底盘沿台前移动，底盘支承机械臂及所持平底锅。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0 s 右侧白盘上可见棕色鸡腿，此时锅仍在左侧橱柜内，鸡腿未在锅中。" + }, + { + "t": 30.5, + "log_step": 576, + "text_zh": "推断：视频 25.3 s 后锅落在台外地面，直到视频 30.5 s 都没有被取回；末段机械臂在橱柜门附近运动，未见鸡腿随夹爪转移到锅。log step 576 提交了抓鸡腿并移到炉头的程序，但原白盘及鸡腿接触区没有持续入画，不能据该程序和 log step 585 的自述认定抓取成功；画面中没有形成鸡腿与锅的目标关系。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 576 提交了鸡腿抓取和搬运动作；视频末段未清楚显示夹爪与鸡腿的接触，不能确定是否夹中及实际接触方式。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0 s 可见灶面各炉圈为灰色，未见开启的红圈。" + }, + { + "t": 30.5, + "log_step": 581, + "text_zh": "推断：已检查的视频全程和视频 29.5–30.5 s 逐帧末段中，可见炉圈均未发红，机器人夹爪仍在灶面左侧橱柜门附近，没有到达右后炉头对应旋钮。log step 581 只证明脚本提交了关节旋转，不能证明旋钮被带转；据初始关闭状态及没有实际开炉动作的画面，判定本步未达到。成功参考录像的视频 32.4–32.8 s 可见锅下红圈，提供开启外观对照，不作为本次运行的状态证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 581 提交了接近旋钮和旋转腕关节的程序；视频末段夹爪被柜门局部遮挡，未见其与目标旋钮建立接触，实际接触无法确认。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 25.2, + "log_step": 538, + "where": "操作中", + "evidence_zh": "观察：视频 24.6–25.1 s 机器人持锅停在灶面左侧、橱柜门旁，锅近竖直而未接触目标炉面；视频 25.2–25.5 s 锅脱离夹爪落向地面。log step 538 的放锅程序在下降段后主动松爪，之后机器人未将锅重新取回放上炉头；这一步是最早失败且未修复的目标。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 25.2, + "log_step": 538, + "evidence_zh": "推断：视频 24.6–25.3 s 锅在灶面左侧、锅面近竖直时被放开，未在目标炉头上获得支承而直接下落；log step 538 明确包含计划松爪段，因此按未到目标即释放标位姿不准。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 25.2, + "log_step": 540, + "source_zh": "日志", + "evidence_zh": "推断：机器人放锅程序（log step 538）把逆解所得关节角插值、下降、松爪连续提交，没有用执行后的实际到位或锅与灶面的接触来决定释放；服务本体反馈（log step 540）显示关节 1 实际 2.8975、指令 1.8334 弧度，关节 6 实际 3.7532、指令 2.1641 弧度，执行明显未跟随目标。结合视频 24.6–25.3 s 机械臂未把锅送到灶面却释放，支持控制及到位确认不足；现有证据不足以进一步区分逆解、跟踪或碰撞处理的责任。" + } + ], + "gap_zh": "无状态日志；录像只有低分辨率中心视角，末段原白盘、鸡腿及右后旋钮接触区未完整显示，故鸡腿和旋钮的实际接触标未知。锅的释放和落地可见，但没有接触力及完整关节轨迹，不能细分导致放锅动作未跟随的控制子类；评分器也未报告三项原生距离指标。视频时刻直接取自所检查帧，未由 agent 工作时间或控制步数换算。" + }, + "summary_zh": "机器人抓住锅柄并将锅搬出橱柜，但三个目标节点均未达到，最终为 0/3。断点为锅放右后炉头：视频约 25.2 s，锅尚在灶面左侧且近竖直时被松开并落地；日志显示放锅关节执行偏离指令且程序仍按序释放，支持控制根因。鸡腿与旋钮的末段接触被遮挡，不能采用 agent 的完成自述补齐；未见鸡腿入锅或右后炉头开启。", + "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、日志一致：锅被夹出橱柜，约视频 24.4–25.2 s 在灶面左侧翻成近竖直后随脚本松爪落地，三个节点均未达成；断点、位姿不准、控制根因（未细分子类）均有视频与 log step 538/540 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": "2026-10-30T02:55:10Z", + "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-searing-meat-i00-standard--p9pbjxc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--p9pbjxc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1983fbedf9b648dc28cdc090178d7743009e8d350037543a0370b9b587c6b3da", + "video_sha256": "e03ac7e51acb352818deb4726f91099b1f45dca64c318fb0e75902c6fe3e5053", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--uba2vj8.json b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--uba2vj8.json new file mode 100644 index 0000000000000000000000000000000000000000..0a430eaa2c37ff9a82e80bdf874f8679206ea485 --- /dev/null +++ b/phase2/robocasa365/searing_meat/trajectories/robocasa365-searing-meat-i00-standard--uba2vj8.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robocasa365-searing-meat-i00-standard--uba2vj8", + "taskKey": "robocasa365/searing_meat", + "dag_sha256": "c99bbe91d1709dc97ee95b3d2e4f96179e32f2dd38fd2555ccc655aa57973dbf", + "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": 3237, + "n_actions": 3237, + "sim_steps": 3237, + "calls": 394, + "elapsed_s": 3314.0, + "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": 0.428, + "peak_processes": 9, + "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-searing-meat-i00-standard--uba2vj8/replay.mp4", + "duration_s": 32.5, + "fps": 10.0, + "frames": 325, + "sha256": "61c2a43fb097ba9a71355c62c86bf8105958d0720569cb4802a596901489dece" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pan_on_rear_right_burner": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色平底锅在敞开橱柜的层板上，锅柄朝右，未接触右侧黑色灶面。" + }, + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 13.0–20.5 s 机器人机械臂伸向锅所在层板，视频 18.0–19.0 s 夹爪在锅沿附近闭合、上提，平底锅仍留在层板上；视频 24.0–30.8 s 的多次靠近、闭爪和上提也没有将锅搬出。" + }, + { + "t": 32.4, + "log_step": null, + "text_zh": "观察：视频 31.5–32.4 s 逐帧可见平底锅仍在原橱柜层板上，右侧灶面没有锅；本步全程未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：机器人二指夹爪在层板前沿附近闭合后上提，实际夹住过层板前缘，未证实夹住锅。依据视频 25.6–30.6 s 的夹爪与层板位置、log step 164–168 的闭爪单指位置约 ±0.015 m 而上提后接近 ±0.0005 m，以及 agent 在 log step 165 自述此前一直夹到层板边缘；不把这些闭爪记为成功抓锅。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 2.4–4.0 s、视频 12.5–17.0 s 取锅相关的观察与接近过程中，底盘转向、平移，带动机器人相机相对橱柜移动并支承单臂；机器人没有持锅运输。" + } + ] + }, + "drumstick_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.8 s 画面最右侧可见白盘上的棕色鸡腿，橱柜层板上的黑锅内为空。" + }, + { + "t": 32.4, + "log_step": null, + "text_zh": "观察：视频 0.0–32.4 s 机器人始终在橱柜和烤箱前进行观察、定位及取锅动作，没有把鸡腿搬向锅；视频 29.8 s 和视频 31.5–32.4 s 锅的露出部分仍为空，锅也从未离开层板。推断：鸡腿入锅关系未建立；末段白盘在画面外不妨碍根据空锅和全程动作判定本步未达。" + } + ] + }, + "rear_right_burner_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.8 s 灶面露出的炉圈均为灰色，未见开启时的红色炉圈；柜门框遮住灶面局部。" + }, + { + "t": 32.4, + "log_step": null, + "text_zh": "推断：结合视频 0.0–32.4 s 机器人始终在橱柜前取锅、未到右侧灶面操作旋钮，视频 2.8 s 的未发红初态和视频 31.5–32.4 s 仍未发红的可见灶面，本步未达到。右后旋钮的精确角度不可读；此判断依据初态及全程没有开炉操作，并非从总评分为零反推。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_rear_right_distance_xy", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "drumstick_pan_distance_xy", + "unit": "m", + "threshold": 0.07, + "direction": "lower_better", + "value": null + }, + { + "name": "gripper_drumstick_distance", + "unit": "m", + "threshold": 0.25, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pan_on_rear_right_burner", + "t": 18.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 13.0–20.5 s 机器人机械臂伸向锅所在层板，视频 18.0–19.0 s 夹爪在锅沿附近闭合、上提而锅留在层板；视频 24.0–30.8 s 又多次靠近、闭爪、空手上提，直到视频 32.4 s 仍未取出锅。推断：最先未修复的失败属于“锅放右后炉头”中取锅的操作，视频 18.0 s 为锅沿附近失败抓取的粗略导航锚点。" + }, + "unmet": { + "pan_on_rear_right_burner": false, + "drumstick_in_pan": false, + "rear_right_burner_on": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 18.0, + "log_step": null, + "evidence_zh": "推断：视频 18.0–19.0 s 与视频 24.0–30.8 s 机器人夹爪在锅沿附近反复闭爪后上提均未使锅跟随，视频 32.4 s 锅仍在层板。因此未建立取锅所需的有效夹持；没有把 agent 关于“锅壁滑脱”的自述当作已成功持锅的证据。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志", + "log_step": 116, + "evidence_zh": "观察：agent 的定位程序在 log step 81 将锅中心估为 z=1.120 m，log step 94 据此给取锅抓取点 z=1.105 m，log step 99 执行闭爪后夹爪实测 z=1.138 m；log step 114 agent 识别此前看到的是烤箱上表面，log step 116 重新三角定位得到锅中心 z=1.419 m。推断：早期约 0.3 m 的锅高度估计错误直接引导了对错误高度的抓取，不是由评分失败猜测感知错误。" + }, + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 171, + "evidence_zh": "观察：后续 log step 168 命令夹爪到 [1.055,-0.345,1.435] m，实测 [1.057,-0.376,1.428] m；log step 171 接近误差为 42.5 mm，并在从实测位置只命令 y 增加 0.004 m 的下降闭爪动作中，测得 y 从 -0.374 m 变到 -0.504 m。视频 24.0–30.8 s 可见夹爪在层板前沿反复闭合、上提而锅不随动。推断：在已修正早期高度估计后，接近与闭爪轨迹仍未按目标稳定到达，构成独立的控制问题；证据不足以细分逆解、执行跟踪或接触设计。" + } + ], + "gap_zh": "本次无状态日志或接触对，近锅时夹爪局部被腕部遮挡，不能确认是否曾短暂触碰或夹住锅壁，故不据 agent 自述标“没保持住”。右后炉头和旋钮有局部遮挡，开启状态按可见初态与全程没有操作该旋钮推断，无法核实精确角度；评分器未报告三个原生距离指标。视频时刻均直接取自已检查帧，未用 agent 时间或控制步数换算。" + }, + "summary_zh": "本次轨迹三个目标节点均未达到：平底锅直到视频 32.4 s 仍在橱柜层板上，鸡腿没有入锅，未见开炉操作。断点为“锅放右后炉头”的取锅阶段，机器人反复闭爪、上提却没有带走锅；日志支持早期锅高度定位错误及后续接近轨迹误差两个原因。无状态接触日志，无法证实 agent 所称锅壁短暂夹持后滑脱，炉头精确角度也不可读。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "三个节点均未达成、final=0 与视频一致（锅全程在层板上）。但断点锚点 8.4 s 及多处“视频 8.0–9.8 s 夹爪在锅前下方尝试取锅”的描述与画面不符：该段夹爪在画面最左侧刀架/台面边缘，离锅很远；机械臂第一次真正伸到锅边约在视频 13–20 s。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达到、final=0 与视频一致（锅全程在层板，鸡腿未入锅，灶面未见开启）；断点锚点 18 s 与帧相符（上轮已修）；感知/控制两个根因有 log 数值支撑，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": "2026-10-30T03:26:01Z", + "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-searing-meat-i00-standard--uba2vj8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--uba2vj8/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--uba2vj8/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robocasa365-searing-meat-i00-standard--uba2vj8/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1602065c0fe34539b979acaab71993e04d2994d2f1a63291532498da11e8b0f4", + "video_sha256": "61c2a43fb097ba9a71355c62c86bf8105958d0720569cb4802a596901489dece", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx.json new file mode 100644 index 0000000000000000000000000000000000000000..57d3a7df1cd2dec8950965fee13bdd3df10080c0 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx.json @@ -0,0 +1,199 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 187, + "sim_steps": 187, + "final_reward": 0.0, + "replay_wall_s": 271.9, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 13, + "agent_resets": 0, + "agent_sim_steps": 5023, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.348, + "peak_memory_gb": 21.261, + "peak_processes": 13, + "peak_disk_gb": 0.844, + "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/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx/replay.mp4", + "duration_s": 12.533, + "fps": 15.0, + "frames": 188, + "sha256": "1d2ab284d1fb83e57156f9656f16f6e3085a2dfd051d99cdff45470e0723c751" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面和左肩视角显示灰箱为空，两瓶红色烧烤酱均在桌面箱外，一瓶直立、一瓶横卧。" + }, + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 6.4–9.2 s 的腕部视角中，机器人夹指在直立酱瓶盖及上部附近闭合并触推瓶子，瓶身未被两指包夹；正面视角中瓶子仍由桌面支承。" + }, + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频 11.2–12.4 s 的连续末段画面显示机器人空爪抬升，直立酱瓶仍在桌上，另一瓶仍横卧于原处，灰箱保持空置；全片未见任一瓶中心进入箱口范围。" + }, + { + "t": null, + "log_step": 192, + "text_zh": "观察：log step 192 核验最终文件为 187×8 动作数组，元数据为 upright_lift；log step 184 的生成脚本在此检查点之后才安排搬运入箱，故不把脚本后续计划或先前会话试验算入评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.4–9.2 s，Robotiq夹指触推直立红色酱瓶的盖及上部，未形成对向抓握；视频约 5.0–6.4 s，机器人末端接近时还碰动并挤倒了黄色芥末瓶。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两瓶酱均在灰箱外，箱内没有酱瓶。" + }, + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频 0.0–12.4 s，机器人只对直立酱瓶进行一次接近、闭爪和空爪抬升；横卧酱瓶未被搬起，两瓶均未进入灰箱，第2瓶入箱没有开始。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_1", + "t": 8.4, + "log_step": 190, + "where": "操作中", + "evidence_zh": "观察：视频约 7.0–11.0 s，机器人在直立酱瓶顶端附近闭爪，但未夹住瓶身；视频 11.2–12.4 s 空爪上升，瓶子留在桌上，首次入箱尝试未得到修复。log step 192 确认交付文件停在 upright_lift 检查点。" + }, + "unmet": { + "bbq_bottles_in_bin_1": false, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 8.4, + "log_step": 190, + "evidence_zh": "观察：视频 6.4–9.2 s 腕部视角可见瓶体位于闭合指垫侧旁，夹指仅触推其上部，没有包夹住瓶体；视频 11.2–12.4 s 机器人抬升的是空爪，瓶子从未随爪离开桌面。所需抓握接触没有建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 184 的脚本仅按IK结果执行关节插值并等待固定步数，没有按实际到位误差修正或验证持瓶后再抬升；log step 190 中抓取目标TCP为 [0.55,-0.355,0.08] m，执行后却为 [0.5653,-0.3712,0.1978] m，高约 0.118 m，脚本随后仍闭爪。视频 7.0–11.0 s 夹爪停在瓶顶附近、视频 11.2–12.4 s 空爪抬升与此一致，支持实际抓取动作未到位的控制问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志、逐关节跟踪记录或接触力记录，无法进一步区分周边碰撞、运动跟踪及接触几何对抓取位姿偏差的各自贡献，因此根因保留在控制大类；不把先前会话中的失败或生成脚本尚未交付的搬运动作作为本次轨迹现象。" + }, + "summary_zh": "评分轨迹仅尝试第1瓶酱入箱：机器人在直立瓶顶端附近闭爪并触推瓶子，随后空爪抬升，两瓶始终留在箱外，最终进度为0/2。断点为第1瓶酱入箱，现象是未建立抓握接触；日志显示实际抓取高度显著高于目标，脚本仍继续闭爪提起，支持控制问题。交付文件仅含upright_lift检查点前的187步；缺少状态与接触力日志，无法细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点两项均未达成、断点（第1瓶入箱，操作中）、没建立接触现象和控制根因均与视频及日志一致；视频中直立酱瓶全程留在桌上，灰箱始终为空。", + "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": "2026-10-30T03:11:45Z", + "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/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--6kksqxx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c3a4dd26ce48e6f2f8bbce72b6d01ad09871665f77a3c0c830570846c0c1f127", + "video_sha256": "1d2ab284d1fb83e57156f9656f16f6e3085a2dfd051d99cdff45470e0723c751", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8.json new file mode 100644 index 0000000000000000000000000000000000000000..e695b5e790105b314f403fc1e6c04df780b9a252 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1503, + "sim_steps": 1503, + "final_reward": 0.5, + "replay_wall_s": 1068.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.073, + "peak_memory_gb": 8.134, + "peak_processes": 11, + "peak_disk_gb": 0.261, + "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/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8/replay.mp4", + "duration_s": 100.267, + "fps": 15.0, + "frames": 1504, + "sha256": "1c5bf880b05bc752a119b15bc9c9061c66b2f2a1d5c8d79a527e51a8c673399f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 29.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 灰箱为空，两瓶红色烧烤酱均在桌面箱外。" + }, + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频 12.0–20.0 s 机器人二指夹爪夹住原先横卧的酱瓶并提离原处；视频 29.2–30.0 s 外部及腕部视角显示被夹瓶的瓶身中心移入灰箱口范围，约取视频 29.5 s（目测误差约 0.5 s），此时仍被夹持，按本节点几何判据已计入。视频 32.8–33.2 s 机器人张爪，瓶子落在箱内。" + }, + { + "t": 100.2, + "log_step": null, + "text_zh": "观察：视频 36.0–100.2 s 的全程抽帧及视频 99.2–100.2 s 密集末帧中，第一瓶始终留在灰箱内，机器人没有再次取出它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 12.0–32.4 s，Panda末端Robotiq二指夹爪从两侧夹住原先横卧的红色酱瓶，提起并搬到灰箱上方；视频 32.8 s 左右张爪释放。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 50.3, + "log_step": null, + "text_zh": "观察：视频 44.0–50.7 s 机器人夹住原先竖立的第二瓶上部并将其提离桌面，但瓶子一直位于木块附近、灰箱之外。" + }, + { + "t": 51.4, + "log_step": 50, + "text_zh": "观察：视频 51.33–51.47 s 机器人夹指张开并与第二瓶分离，瓶子在灰箱外下落；视频 51.67–51.80 s 腕部视角可见瓶子跌向桌边外。视频 56.0–96.0 s 后续下降、合爪及往灰箱搬运均为空爪，未将第二瓶带入箱内。" + }, + { + "t": 100.2, + "log_step": null, + "text_zh": "观察：视频 99.2–100.2 s 灰箱中只有第一瓶，腕部与两外部视角均未出现第二瓶入箱；inputs/run.json 的评分器字段 final_reward=0.5、success=0 与该终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44.0–50.7 s，机器人同一二指夹爪围住第二瓶瓶盖及上部，合拢后将瓶子提离原处；视频 51.4 s 左右在箱外张爪，瓶子下落。后续抓取动作为空夹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_2", + "t": 51.4, + "log_step": 50, + "where": "操作中", + "evidence_zh": "观察：视频 50.3 s 第二瓶已被机器人提起，但仍在木块旁、灰箱外；视频 51.33–51.47 s 夹爪张开后瓶子下落，视频 51.80 s 已跌到桌边外。机器人之后空夹并空手移到箱口，直至视频 100.2 s 箱内仍仅一瓶，第2瓶入箱未获修复。" + }, + "unmet": { + "bbq_bottles_in_bin_1": true, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 51.4, + "log_step": 50, + "evidence_zh": "观察：视频 50.3–51.33 s 第二瓶由机器人夹爪提在灰箱外，视频 51.4–51.8 s 夹指张开、瓶子离爪并跌向桌边外。log step 50 的最终录制脚本在所谓“knock it over”段明确先合爪、上提再调用 open_gripper，未先移动到灰箱，因此此处是箱外主动释放，未形成第二瓶入箱。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 50, + "evidence_zh": "推断：最终录制没有从规定初态重新开始，且依赖会话中途查询的物体位姿，造成提交动作与评分初态不匹配。log step 48 的上一轮已运行 1244 步；log step 49 读到第一瓶在箱内、第二瓶横卧于桌面。log step 50 随即调用 record_start，完整脚本没有 reset，并查询第二瓶当时位姿来生成后半段抓取；log step 52 保存 1503 行时 sim_steps=2747，恰为 1244+1503，resets 仍为 1。log step 53 仅检查文件格式，评分器 agent_replays=0、deterministic=1。评分视频 0.0 s 却从空箱及第二瓶竖立开始，视频 51.4–51.8 s 第二瓶被释放到桌边外，后半段按会话横卧位置执行的抓取在视频 60.0–68.0 s 为空夹；该会话读数不能用于认定评分重放抓取成功。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，瓶子凸包质心越过箱体凸包边界的首达时刻只能依据三视角近似判断，第一瓶首达时间约有 0.5 s 误差，夹指的 0.1 N 接触阈值无法量化。log step 51 的横卧瓶位姿是未 reset 会话的读数，与评分视频第二瓶跌出桌边的情节不同，未用于节点赋值；节点按评分视频判断。" + }, + "summary_zh": "评分轨迹完成第1瓶入箱：视频约 29.5 s 达到几何入箱，释放后一直留在箱内，终态为 1/2。第2瓶虽被提起，却于视频约 51.4 s 在箱外张爪后跌向桌边外，后续空夹未修复；日志显示最终动作从上一轮末态直接录制，并按该会话的瓶子位置生成后续动作，属于交付操作出错。无状态日志，入箱边界时刻及接触阈值只能由视频近似判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（第1瓶约29.5 s入箱并留箱内、第2瓶未入箱）、断点（第2瓶箱外张爪跌落）与根因（未reset的会话末态上录制、sim_steps 2747=1244+1503）均与视频和日志一致，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": "2026-10-30T02:39:19Z", + "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/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--bedy8q8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "aa43d11cbb01f745dd66ad349f242309ea8fcf039ea2eae2aff5f64747a677ed", + "video_sha256": "1c5bf880b05bc752a119b15bc9c9061c66b2f2a1d5c8d79a527e51a8c673399f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc.json new file mode 100644 index 0000000000000000000000000000000000000000..81801d220ddc90590a0f240b9db6235ea70d832e --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-privileged--dzugebc", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 790, + "sim_steps": 790, + "final_reward": 1.0, + "replay_wall_s": 708.3, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 18, + "agent_sim_steps": 1708, + "agent_records": 4, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.577, + "peak_memory_gb": 13.85, + "peak_processes": 17, + "peak_disk_gb": 1.007, + "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/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc/replay.mp4", + "duration_s": 52.733, + "fps": 15.0, + "frames": 791, + "sha256": "0f0c7f8f1c420df6682851904d1d5fe309ef7e85c2dc792569cc370f1391331c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 22.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，灰箱为空，两瓶红色酱瓶分别横躺和直立在箱外桌面上。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 8.0–14.0 s，机器人二指夹爪合拢夹住原先横躺的深红色酱瓶；视频 14.0 s 瓶子已离开原先桌面位置，并随夹爪升起。" + }, + { + "t": 22.4, + "log_step": null, + "text_zh": "推断：结合视频 21.6、22.0、22.4、22.8 s 的正面、左肩及腕部视角，机器人持瓶越过灰箱口边界，约在视频 22.4 s 瓶身中心进入箱口上方范围，时刻误差约 0.5 s；按 DAG 几何计数规则，仍被夹持且高于箱沿也计入。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频 25.6–27.0 s，机器人张开二指，第一瓶与夹爪分离并落入箱内；视频 28.0–52.667 s 的已检画面中该瓶始终留在灰箱内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.0–25.6 s，机器人单个Robotiq夹爪的两指夹住原先横躺的深红色酱瓶近瓶口端，并提起搬运至灰箱；视频 27.0 s 可见张开的夹指与瓶子分离。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [ + [ + 49.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频 37.0–41.0 s，机器人二指夹爪在原先直立酱瓶的瓶盖处合拢；视频 42.0–43.0 s，该瓶离开桌面，原位置空出，第一瓶仍留在灰箱内。" + }, + { + "t": 49.2, + "log_step": null, + "text_zh": "推断：视频 48.4、48.8、49.2、49.6、50.0 s 的外部与腕部视角显示，机器人将第二瓶从箱外移至箱口上方，约在视频 49.2 s 瓶身中心进入箱口范围，误差约 0.5 s；第一瓶仍在箱内，因此几何数量达到两瓶。" + }, + { + "t": 52.667, + "log_step": null, + "text_zh": "观察：视频 51.6、52.0、52.2、52.4、52.6、52.667 s，两瓶均保持在灰箱口范围，第二瓶仍高于箱底；视频 52.667 s 末帧夹爪张开，腕部画面可见夹指与第二瓶分开。" + }, + { + "t": 52.667, + "log_step": 164, + "text_zh": "观察：log step 162 的最终录制结果报告 n_actions=790、success=true、progress=1.0、terminated=true；log step 164 确认将该790步轨迹复制为最终交付文件。inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、instance_exact=1，与视频末尾两瓶入箱及夹指张开的结果一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 38.0–52.6 s，机器人单个Robotiq夹爪的两指夹住原先直立酱瓶的瓶盖附近，将其提离桌面并搬运到灰箱口上方；视频 52.667 s 夹指张开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人先后抓起原先横躺和直立的两瓶酱，约在视频 22.4 s 和视频 49.2 s 达到第1瓶、第2瓶入箱，最终完成2/2节点，评分器判定成功。视频 52.667 s 末帧夹爪张开，第二瓶尚在箱沿上方；本任务以敞口凸包向上延伸的几何关系及夹指脱离验收，不要求触底或静置；无状态日志，精确凸包边界与0.1 N接触阈值无法从画面直接测量，入箱时刻为约0.5 s精度的视觉判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，两节点由视频帧支持：第1瓶约22.4 s、第2瓶约49.2 s入箱，contact_actual为单夹爪抓握，与画面一致；validator通过，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": "2026-10-30T02:55:06Z", + "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/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--dzugebc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "78edfe6351773080ef3ba2628958fbd90cebd2fb6d7518d993b17cbb0b89a9c5", + "video_sha256": "0f0c7f8f1c420df6682851904d1d5fe309ef7e85c2dc792569cc370f1391331c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3.json new file mode 100644 index 0000000000000000000000000000000000000000..b939e7017502433173c4ccdddfbc337c7c536576 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 836, + "sim_steps": 836, + "final_reward": 1.0, + "replay_wall_s": 712.6, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 2, + "agent_sim_steps": 2508, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.011, + "peak_memory_gb": 7.182, + "peak_processes": 10, + "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/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3/replay.mp4", + "duration_s": 55.8, + "fps": 15.0, + "frames": 837, + "sha256": "4090abd0d5590e7283e3ee63fa366a20ab53c5ba6218e371a68633d8e49ff595" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 12.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面、左肩视角显示灰箱为空，两瓶红色酱瓶均在箱外桌面。" + }, + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 5.5–8.5 s，机器人二指夹爪闭合夹住初始横卧酱瓶，随后瓶体离开原桌面位置，随夹爪上升。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频 12.0–12.3 s，第一瓶与夹爪分离，向灰箱方向翻转下落；视频约 12.2 s 正面及左肩视角已见瓶身中心进入箱口范围，随后留在箱内。入箱时刻按画面估计，误差约 0.2 s。" + }, + { + "t": 55.73, + "log_step": null, + "text_zh": "观察：视频 15.0、21.0、33.0、48.0 s 及视频 54.8–55.73 s，第一瓶一直留在灰箱范围内，操作第二瓶时未被取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人Robotiq二指夹爪夹住初始横卧酱瓶并提起；视频约 12.1 s 瓶体脱离夹爪后落入灰箱。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [ + [ + 51.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 28.0–31.0 s，机器人二指夹爪下降夹住原先直立瓶的瓶颈，瓶体随后离开桌面并随夹爪升高，原位置空出；第一瓶仍在灰箱内。" + }, + { + "t": 51.0, + "log_step": null, + "text_zh": "推断：视频 50.5–51.5 s，正面、左肩及腕部视角共同显示机器人持第二瓶越过灰箱近侧边界，约视频 51.0 s 瓶身中心已进入箱口沿上轴延伸的范围；此时第一瓶仍在箱内，达到两瓶计数。该节点允许持物及高于箱沿，故不等到松爪才计入；无状态日志，边界时刻误差约 0.5 s。" + }, + { + "t": 55.73, + "log_step": null, + "text_zh": "观察：视频 51.5–55.73 s 两瓶均保持在灰箱范围；视频 55.7–55.73 s 末段可见二指夹爪张开，第二瓶与夹指分离并下落，第一瓶仍在箱内。" + }, + { + "t": null, + "log_step": 80, + "text_zh": "观察：log step 80 的新进程重放工具结果为 success=true、all_success=true、deterministic=true、sim_steps=836；inputs/run.json 的评分器 reward 也报告 success=1、all_success=1、deterministic=1，支持终态两瓶入箱且夹指脱离的验收结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人Robotiq二指夹爪闭合夹住原先直立酱瓶的瓶颈，将其提离桌面并送入灰箱上方，随后下降；视频末段张开夹爪释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：机器人先抓起横卧瓶，该瓶脱离夹爪后于视频约 12.2 s 落入灰箱；机器人随后夹持第二瓶搬运，于视频约 51.0 s 达到两瓶同时入箱，最终完成 2/2 节点。观察：视频 55.73 s 末帧夹爪张开、两瓶均在箱内，评分器报告 success=1、all_success=1、deterministic=1，无失败断点。推断：无状态日志，入箱时刻依据多视角画面估计，尤其第二瓶边界时刻约有 0.5 s 误差；凸包质心及 0.1 N 脱离阈值无法由画面直接测量，终态验收由评分器成功结果支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点时间与接触标注与画面一致：第1瓶约12.2 s入箱，第2瓶约51 s越过箱口范围，终态由评分器success=1支持；无失败断点。", + "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": "2026-10-30T03:12:21Z", + "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/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--hwmdsy3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c1584710a8e5cd06a2d2a54a9734ff915809b3be30469a9453aa9485aaf5cd1c", + "video_sha256": "4090abd0d5590e7283e3ee63fa366a20ab53c5ba6218e371a68633d8e49ff595", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb.json new file mode 100644 index 0000000000000000000000000000000000000000..6632948c89c15f2b5ed4d2f8918e5bfabcbacec6 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb.json @@ -0,0 +1,203 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 441, + "sim_steps": 441, + "final_reward": 1.0, + "replay_wall_s": 585.2, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 10, + "agent_resets": 3, + "agent_sim_steps": 1558, + "agent_records": 3, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.863, + "peak_memory_gb": 8.734, + "peak_processes": 11, + "peak_disk_gb": 0.069, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb/replay.mp4", + "duration_s": 29.467, + "fps": 15.0, + "frames": 442, + "sha256": "88303a73d2a837a003c50b1996b79e3c4eb1bc2b747e8a35154b98403a657203" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 11.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面与左肩视角显示灰箱为空，两瓶红色烧烤酱分别直立和横放在桌面上，初始入箱数量为零。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 4.0–7.0 s，Panda末端的二指夹爪在直立瓶瓶身两侧合拢，随后瓶子离开桌面并随夹爪上升；原来直立瓶的位置空出，另一瓶仍在桌面横放。" + }, + { + "t": 11.4, + "log_step": null, + "text_zh": "推断：对比视频 10.8、11.0、11.2、11.4、11.6、11.8 s 的外部与腕部视角，机器人携带的首瓶中心约在视频 11.4 s 进入灰箱箱口沿上轴延伸的范围，视觉边界误差约±0.4 s；按DAG允许高于箱沿且仍被夹持，故此时计入。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 13.5–14.0 s，机器人张开夹爪，首瓶从夹爪下方落入灰箱；视频 16.0–29.4 s 的所检帧中首瓶一直留在箱内，搬运第二瓶时没有被取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–8.0 s，Panda末端Robotiq二指夹爪从两侧夹住原先直立的烧烤酱瓶瓶身并提起；机器人将其搬至灰箱上方，视频 13.5–14.0 s 张开夹爪释放。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [ + [ + 27.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.0, + "log_step": null, + "text_zh": "观察：视频 19.0–23.0 s，机器人将张开的夹爪降至原先横放的红色烧烤酱瓶两侧，合拢后提起该瓶；视频 23.0 s 该瓶已离开桌面原位置并随夹爪运动，首瓶仍在箱内。" + }, + { + "t": 27.2, + "log_step": null, + "text_zh": "推断：视频 26.4–27.6 s 每隔约0.2 s的帧显示机器人将第二瓶横向运至灰箱上方；综合正面、左肩及腕部视角，第二瓶中心约在视频 27.2 s 进入箱口沿上轴延伸的范围（边界误差约±0.4 s），此后两瓶均在该范围，DAG不要求此刻已松手或触底。" + }, + { + "t": 29.4, + "log_step": null, + "text_zh": "观察：视频 28.0–29.4 s 机器人在箱口范围内降低第二瓶，首瓶保持在灰箱内；视频 29.4 s 末帧腕部视角可见夹指张开，第二瓶仍位于箱口范围内，没有观察到随后落底或静置的过程。" + }, + { + "t": 29.4, + "log_step": 365, + "text_zh": "观察：log step 365 读取交付文件得到actions形状(441,8)；inputs/run.json的评分器字段n_actions=441、success=1、all_success=1、deterministic=1、instance_exact=1、final_reward=1.0，与本次两瓶入箱的终态相符。" + }, + { + "t": 29.4, + "log_step": null, + "text_zh": "推断：评分器成功结果支持终态已满足两瓶入箱与双夹指脱离的联合要求；视频末帧能看到张开动作，但无状态日志，不能独立测量0.1 N接触力阈值。参考成功视频 52.6 s 也展示第二瓶位于灰箱上方、夹爪尚在瓶旁的终止画面，仅用来核对可见验收形态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20.0–23.0 s，Panda末端Robotiq二指夹爪从两侧夹住原先横放的烧烤酱瓶瓶身，将瓶子提离桌面并搬至灰箱上方；视频 29.4 s 可见夹指张开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人先抓起直立的烧烤酱瓶，再抓起原先横放的另一瓶，约在视频 11.4 s、27.2 s 分别使入箱数量达到一瓶、两瓶，两节点均保持到视频结束。视频 29.4 s 末帧可见夹爪张开，评分器success=1且deterministic=1，按本次验收记成功，无失败断点。没有状态日志，凸包质心过界时刻仅为视觉估计，双指0.1 N接触阈值由评分器成功结果支持，不能从画面独立测量。", + "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，两节点时间（视频 11.4 s、27.2 s）与帧一致，接触为抓握，无失败断点；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": "2026-10-30T03:26:13Z", + "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/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-privileged--tbb7knb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f1dc6206f262360c862eaaa7af6622f78c5fab656e829d0a2bb78d5d4ec769db", + "video_sha256": "88303a73d2a837a003c50b1996b79e3c4eb1bc2b747e8a35154b98403a657203", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj.json new file mode 100644 index 0000000000000000000000000000000000000000..984dd52b730471fcc0483993f2c3752a85943fcd --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-standard--afwzjwj", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 5409, + "sim_steps": 5409, + "physics_steps": 43272, + "steps": 692, + "elapsed_s": 1811.2, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.998, + "peak_processes": 13, + "peak_disk_gb": 0.282 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj/replay.mp4", + "duration_s": 360.667, + "fps": 15.0, + "frames": 5410, + "sha256": "4f4405251ecca37c8149ca0bd4b20ee275621e46c00a31dbadfb7101f5b1001b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 304.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 的两个外部视角显示灰箱为空，一瓶酱直立、另一瓶横躺在箱外桌面。" + }, + { + "t": 304.5, + "log_step": 57, + "text_zh": "观察：视频 296–300 s，夹爪夹持原先横躺的酱瓶，瓶子离开桌面原位置并上升；视频 304.0–305.0 s，机器人把瓶子移过灰箱口，约视频 304.5 s 瓶身中心已进入箱口范围，此时仍被夹持。入箱时间按外部和腕部视角估计，误差约 0.5 s；本节点允许持物及高于箱沿。" + }, + { + "t": 309, + "log_step": 57, + "text_zh": "观察：视频 308.5–309.0 s，夹爪松开，酱瓶翻倒后落在灰箱内部；视频 310–360.6 s 所检查画面中该瓶一直留在箱内，片尾夹爪已离开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 277–280 s，Robotiq二指夹爪夹起原先横躺的酱瓶但又使其落回桌面；视频 296–300 s 再次对向夹住并提起该瓶，视频 301–308 s 搬至灰箱后松开，视频 309 s 瓶子留在箱内。搬运经过黄色芥末瓶旁时将其碰倒（视频 303–304 s）。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 117.7, + "log_step": 22, + "text_zh": "观察：视频 40–117.4 s，原先直立的酱瓶被夹爪夹住并悬空，尚在灰箱外；视频 117.6–117.9 s，该瓶从夹爪脱离，向画面左侧飞出并消失，灰箱仍为空。后续检查的搜索画面未见该瓶重新被抓回或入箱。" + }, + { + "t": 360.6, + "log_step": 62, + "text_zh": "观察：视频 309–360.6 s 的两个外部视角始终只显示一瓶酱在灰箱内，视频 360.6 s 片尾同样如此；run.json评分字段success=0、live_matches_replay=1。" + }, + { + "t": 360.6, + "log_step": null, + "text_zh": "推断：DAG按入箱数量而非瓶子身份计数，后来搬入的瓶子已满足第1节点；先前丢失的另一瓶始终未补入，因此“至少两瓶入箱”从未成立。此节点的抓握记录对应丢失瓶子的实际搬运尝试。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 35–45 s，Robotiq二指夹爪对向夹紧原先直立的酱瓶并将其提离桌面；持续持瓶到视频约 117.6 s，横向搬运开始时瓶子转动并脱离夹爪。此瓶是最终缺少的另一瓶，计数节点不绑定抓取先后。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_2", + "t": 117.7, + "log_step": 22, + "where": "操作中", + "evidence_zh": "观察：视频 117.4 s 尚能看见机器人夹持已提起的酱瓶；视频 117.6–117.9 s，瓶子在向灰箱搬运的起始段转动、脱手并飞离桌面视野，随后夹爪空持。视频 309–360.6 s，另一瓶虽已入箱，但丢失瓶子没有被补入。推断：按DAG数量语义，后来的入箱修复了“至少一瓶”节点，仍未修复的是“至少两瓶入箱”；以早先导致缺瓶的脱手事件作断点锚点。" + }, + "unmet": { + "bbq_bottles_in_bin_1": true, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 117.7, + "log_step": 22, + "evidence_zh": "观察：视频 110–117.4 s，酱瓶仍被机器人夹爪夹持在灰箱外的空中；视频 117.6–117.9 s，瓶子转动后与夹指分离并飞出视野，夹爪随后空持。log step 22 的搬运动作持续发送闭爪命令g=1，此处不是目标内的计划松手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 117.7, + "log_step": 22, + "evidence_zh": "观察：log step 22 中agent脚本以ee_pose把持瓶末端从箱外移向灰箱，闭爪命令始终为1；机器人服务返回该横移动作多行arm=\"not converged\"，前几行ee_error_m为0.4881、0.5231、0.4215、0.3735、0.5983，动作末尾夹爪开度仅0.0018 m。视频 117.6–120 s 同时显示瓶子脱离及机械臂、腕部视角的大幅翻转，而此前瓶子已经稳定悬持。推断：搬运轨迹的差分逆解未收敛、末端运动失稳导致持物丢失；证据不支持把该事件归为未抓到或主动放开。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，无法精确测量凸包中心跨越箱口边界的瞬间或0.1 N夹指接触阈值，入箱起点约有0.5 s视觉误差。丢失瓶子离开所有相机后的位置及可恢复性无法确认；agent自述其掉入无实体地面、无法恢复（log step 65）不作为已证实的环境事实。" + }, + "summary_zh": "机器人将原先横躺的酱瓶送入灰箱，约视频 304.5 s 起“第1瓶酱入箱”成立并保持至片尾，最终完成1/2节点。另一瓶早在视频约 117.7 s 的搬运中脱手且未被补入，断点为“第2瓶酱入箱”，现象为没保持住；服务日志中的逆解不收敛与视频大幅甩动支持控制·轨迹或逆解根因。没有状态日志，入箱边界时刻仅能视觉估计，丢失瓶子的最终位置无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽查视频 0/60/117/118/119/125/200/280/300/304.5/310/360 s 帧与 run.json step 22：第1节点约 304.5 s 成立、第2节点未成立、117.7 s 瓶子脱手，与标注一致；根因有服务日志（ee_error 0.37–0.60、夹爪开度 0.0018）支撑。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": "2026-10-30T03:18:45Z", + "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/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--afwzjwj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e2f4633f9bfd271d871ea39567df52b592ed758a42afebf4f924618750d95692", + "video_sha256": "4f4405251ecca37c8149ca0bd4b20ee275621e46c00a31dbadfb7101f5b1001b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--c5texwa.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--c5texwa.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6983f55d552d41aec6ab8aa79e51a52a799f87 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--c5texwa.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-standard--c5texwa", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 419, + "sim_steps": 419, + "physics_steps": 3352, + "steps": 100, + "elapsed_s": 1867.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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": 0.386, + "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/robolab-bbq-sauce-in-bin-i00-standard--c5texwa/replay.mp4", + "duration_s": 28.0, + "fps": 15.0, + "frames": 420, + "sha256": "403f3c1d3680ff1f329ab2e956dc25e999157b9469ceb2dc2fc21924a166636b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 正面及左肩视角中，灰箱为空；两瓶红色烧烤酱均在箱外桌面，一瓶横放、一瓶直立。" + }, + { + "t": 6.4, + "log_step": 23, + "text_zh": "观察：视频 4.6–5.8 s 机器人二指夹爪夹住原先横放的酱瓶并使其离开桌面；视频 6.0–6.33 s 夹指与瓶身相对位置明显变化，视频 6.4 s 瓶子脱离夹爪并向画面左侧离开，尚未运到灰箱上方。" + }, + { + "t": 27.93, + "log_step": null, + "text_zh": "观察：视频 20.0–21.0 s 机器人搬运另一瓶，视频 21.2–21.8 s 该瓶脱手落在箱外桌面；视频 24.0–26.0 s 夹爪空手进入灰箱后退出，视频 27.0–27.93 s 灰箱仍清晰可见且为空，至少一瓶入箱的条件始终未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda末端Robotiq二指夹爪在视频 4.6–5.8 s 从两侧夹住原先横放的红色酱瓶并提起；该瓶随后脱手。视频 17.0–20.6 s 夹爪又夹住原先直立的另一瓶并提起搬运，仍未实现第一瓶入箱的计数条件。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 57, + "text_zh": "观察：视频 16.0–20.0 s 机器人对原先直立的另一瓶闭爪并提离原位，此时灰箱仍空；视频 20.8–21.8 s 该瓶摆动脱手，落回灰箱外桌面。log step 57、61 的脚本分别尝试抓起和运送这第二个被操作的瓶子，但视频未显示两瓶同时进入箱口范围。" + }, + { + "t": 27.93, + "log_step": null, + "text_zh": "观察：视频 27.0–27.93 s 正面、左肩和腕部视角均可见灰箱为空，后一瓶横躺在箱外桌面；第2瓶入箱计数条件未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 17.0–20.6 s 机器人二指夹爪从两侧夹持原先直立的红色酱瓶，并将其提起搬运；这是对第二个瓶子的实际操作，前一瓶尚未入箱，故未形成两瓶入箱的计数。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_1", + "t": 6.4, + "log_step": 23, + "where": "操作中", + "evidence_zh": "观察：视频 4.6–5.8 s 机器人夹起原先横放的酱瓶，视频 6.0–6.4 s 夹持失稳，该瓶脱离夹爪、离开画面，仍在灰箱外；此后机器人转动腕部寻找，并改取另一瓶，直到视频 27.93 s 灰箱仍空。推断：第一次入箱操作中的持物丢失是最早未修复的失败，后续换瓶尝试没有完成至少一瓶入箱。" + }, + "unmet": { + "bbq_bottles_in_bin_1": false, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 6.4, + "log_step": 23, + "evidence_zh": "观察：视频 4.6–5.8 s 机器人夹爪确实夹住酱瓶并将其提离桌面；视频 6.0–6.33 s 瓶身与夹指相对位置改变，视频 6.4 s 瓶子从夹爪脱离并向画面左侧离开，灰箱仍为空。该事件发生在提起阶段，尚未到达计划放置区域。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 23 的抓取脚本在闭爪后持续给出夹爪命令 1.0，要求在相同平面位置上提，未发送放开命令；log step 28 打印的同次执行记录中，上提时夹爪开度从约 0.042 m 波动至 0.050、0.030、0.056 m，最后闭合到约 0 m；视频 6.0–6.4 s 同时显示夹持失稳和瓶子脱离。推断：失败出在提起时的持物控制，未能在持续闭爪命令下保持瓶子；证据不足以进一步区分接触几何、夹持力或运动跟踪的具体问题。" + } + ], + "gap_zh": "无状态日志或接触力记录，不能确定第一瓶脱手后的最终落点，也不能细分持物控制失效的机制；两瓶均未进入灰箱的判定由清晰外部视角支持。log step 78 记录模型提供方过滤而结束会话，未给出正常最终报告；上述物理持物失败已在中断前发生，按已发生的评分轨迹标注，不将过滤列为机器人现象或根因。" + }, + "summary_zh": "本次机器人先后夹起两瓶酱，但两瓶均在入箱前脱手，视频 27.93 s 灰箱仍为空，两个计数节点全程均未达到。最早未修复的失败是视频约 6.4 s 第一瓶在提起中脱离夹爪，现象为没保持住，日志支持归于持物控制失败。无状态或力记录，第一瓶最终落点及控制失效的具体机制无法确定；会话最后出现提供方过滤记录（log step 78）。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达到、final=0、断点在第一瓶提起时脱手（视频约6.0–6.4 s）、现象“没保持住”与控制类根因，均与视频帧和日志一致；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": "2026-10-30T02:54:19Z", + "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/robolab-bbq-sauce-in-bin-i00-standard--c5texwa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--c5texwa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8c7c21e2618fa4317482eef5a50310198c169b44e49b6d315d4f044fa29cf49d", + "video_sha256": "403f3c1d3680ff1f329ab2e956dc25e999157b9469ceb2dc2fc21924a166636b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl.json new file mode 100644 index 0000000000000000000000000000000000000000..94decf1dd4b75cde30b3f7f21f15b91f802bb2a8 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl.json @@ -0,0 +1,227 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-standard--eogkgsl", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 1480, + "sim_steps": 1480, + "physics_steps": 11840, + "steps": 32, + "elapsed_s": 1042.1, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl/replay.mp4", + "duration_s": 98.733, + "fps": 15.0, + "frames": 1481, + "sha256": "aeef183ef7223fa6b4f6ddbd9ecdda0aff6f2c437199d110687aa4c671bde3f4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 12.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 灰箱为空，两瓶红色烧烤酱分别直立和横卧在箱外桌面。" + }, + { + "t": 12.7, + "log_step": null, + "text_zh": "推断：视频 12.0、12.333、12.667、13.0 s 的正面、左肩和腕部视角显示机器人把首瓶从桌面上方横移至灰箱口上方，约视频 12.7 s 瓶身中心进入箱口沿上轴延伸的范围，时间约有 0.5 s 误差。依 DAG，仍被夹持且高于箱沿也计入。" + }, + { + "t": 24.4, + "log_step": 29, + "text_zh": "观察：视频 24.2–25.4 s 机器人在灰箱上方张开夹指，首瓶落入箱内并倾斜停下；视频 27.0–96.0 s 的连续粗采样和视频 98.6 s 末段帧均显示该瓶仍在箱内、夹爪已离开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 3.3–24.2 s，Panda 末端 Robotiq 二指夹爪从两侧夹住首瓶靠瓶盖的颈部，提起并搬到灰箱上方，随后张指释放。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.7, + "log_step": 34, + "text_zh": "观察：视频 30.4–31.3 s 机器人在第二瓶靠瓶盖的颈部闭合夹指，视频 31.6–32.5 s 第二瓶随夹爪升离原桌面位置，但仍在灰箱外。" + }, + { + "t": 32.8, + "log_step": null, + "text_zh": "观察：视频 32.533 s 第二瓶仍被夹在颈部；视频 32.667–32.8 s 瓶身从夹指间旋转滑出，视频 32.933–33.2 s 掉向桌边下方。视频 36.0–96.0 s 的搜索过程中没有第二瓶被重新夹起或送入箱内，视频 98.6 s 三视角仍只见箱内首瓶。" + }, + { + "t": 98.6, + "log_step": 92, + "text_zh": "观察：视频 98.6 s 的正面和左肩视角清楚显示灰箱内只有一瓶；评分器 reward.live_success=0、replay_success=0、live_matches_replay=1，agent 最终也在 log step 92 自述任务未完成。第二瓶入箱未达成的判断来自上述可见搬运及终态，而非仅由零分推定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 30.6–32.5 s，Robotiq 二指夹爪夹住横卧第二瓶靠盖的颈部并短暂提离桌面；视频约 32.7 s 失去夹持，瓶子旋转滑落。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_2", + "t": 32.7, + "log_step": 34, + "where": "操作中", + "evidence_zh": "观察：视频 31.6–32.5 s 机器人正在提起第二瓶以送入灰箱，视频约 32.7 s 瓶子从夹爪间旋转脱出，视频 33.2 s 已落到桌边下方。后续机器人移动腕部相机查看桌边和底座周围，直到视频 98.6 s 仍未将第二瓶入箱；该步从未修复。" + }, + "unmet": { + "bbq_bottles_in_bin_1": true, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 32.7, + "log_step": 34, + "evidence_zh": "观察：视频 31.6–32.533 s 第二瓶已经被二指夹爪夹住并随末端离开桌面；视频 32.667–32.8 s 瓶子从指间旋转滑出，继而在视频 33.2 s 掉到桌边下方。这是已建立的夹持丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "t": 32.7, + "log_step": 34, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 30.6–32.533 s 的腕部视角显示机器人夹指夹在横卧第二瓶靠瓶盖的细颈处，宽大的瓶身伸在夹持点一侧；视频 32.667–32.8 s 瓶子绕夹持点转动并滑出。据此判断，偏向瓶端的接触位置与承载布局不适配，造成提起时失握。log step 34 的脚本闭爪后等待，再保持 g=1 从 z=0.028 竖直提至 z=0.30；该步闭爪动作 META 的 arm=Success、ee_error_m=0.0027，log step 35 提起动作的 arm=Success、ee_error_m=0.0054，且本体读数 gripper_cmd=1。这些读数不支持把失握归因于末端轨迹跟踪失稳，也没有夹力或反馈异常的直接证据。尚未验证该横卧瓶的其他抓取位置或姿态能否成功，alt_feasible 为未知。", + "alt_feasible": "未知" + } + ], + "gap_zh": "没有物体状态或接触力日志，首瓶凸包质心跨越箱口边界的时刻只能由三视角估计，约有 0.5 s 误差；第二瓶落到桌边下方后最终停留位置被遮挡，但未送入灰箱可由可见全过程及箱内终态确定。视频支持偏瓶端夹持及旋转滑出的接触几何推断，但缺少精确重心、指面接触位置和夹持力数据，不能量化其力学贡献，也未验证第二瓶的替代抓法。" + }, + "summary_zh": "机器人将首瓶搬到灰箱范围内并释放，视频约 12.7 s 起第1瓶入箱成立，终态为 1/2。第二瓶虽被提离桌面，却在视频约 32.7 s 从夹指间旋转滑落，后续搜索未恢复该步，断点为第2瓶入箱，现象为没保持住；结合偏瓶端的细颈夹持位置，根因推断为控制·抓取和接触设计。没有物体状态和接触力日志，首瓶几何入箱时刻、具体接触力学及替代抓法可行性仍有不确定性。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、时间与断点（第2瓶入箱，约视频 32.7 s 失握）经帧核对基本成立；问题在根因：失握发生在抓取位置选在瓶颈/靠盖端的一次抓取上，标注者自述无法区分子类却直接选了「控制」，未按 规划→抓取和接触设计→控制 的判别顺序处理。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点值、时间、断点（第2瓶约视频 32.7 s 夹持丢失）与根因（抓取和接触设计，alt_feasible 未知）均与帧一致，第1轮意见已落实，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": "2026-10-30T03:28:16Z", + "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/runs/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--eogkgsl/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "926726c9458a26a26dfdfb83bd5c54fec6c414af3c3a17f419315298aad97484", + "video_sha256": "aeef183ef7223fa6b4f6ddbd9ecdda0aff6f2c437199d110687aa4c671bde3f4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--kznvkby.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--kznvkby.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1cbd6ab1e8662488c68e84fe921183cd999bd5 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--kznvkby.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-standard--kznvkby", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 9448, + "sim_steps": 9448, + "physics_steps": 75584, + "steps": 4094, + "elapsed_s": 4236.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-bbq-sauce-in-bin-i00-standard--kznvkby/replay.mp4", + "duration_s": 315.0, + "fps": 15.0, + "frames": 4725, + "sha256": "2a5e4dd0cd6cb722f2f4fd49bd58a238709f9fb4b1503827c75c4eb90ac5850b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两瓶酱均在灰箱左侧桌面，箱内为空；第1瓶、第2瓶按入箱数量计数，不绑定瓶子身份。" + }, + { + "t": 13.0, + "log_step": 59, + "text_zh": "观察：视频 11.5–12.7 s 机器人二指夹爪夹住原先横躺的深红瓶并使其抬起、转动，视频 13.0–15.0 s 瓶子落回原位附近，夹爪空手升高；视频 25.0 s 夹爪到箱口时箱内仍为空。log step 58–59 为这次首瓶抓取及移箱程序的编写与执行记录。" + }, + { + "t": 93.0, + "log_step": null, + "text_zh": "观察：视频 89.5–92.5 s 机器人重抓同一深红瓶并将它提离桌面，视频 93.0 s 瓶子再次脱离夹爪落回桌面，仍在箱外。" + }, + { + "t": 296.0, + "log_step": 222, + "text_zh": "观察：视频 294.0–295.5 s 机器人在桌边夹提剩余深红瓶，视频 296.0–297.5 s 瓶子脱离夹爪并落到桌边下方；log step 222 保存的最后一次执行输出也记录夹爪开度由闭合后 0.0713 m、第一段抬升后 0.0226 m 降至第二段后 0.0018 m，程序报告未保持住瓶子并返回。" + }, + { + "t": 314.933, + "log_step": null, + "text_zh": "观察：视频 314.0–314.933 s 正面、左肩和腕部视角均可检查灰箱内部，箱内为空，机器人夹爪也未持瓶。全程粗看及抓取、移箱关键帧均未见任一瓶中心进入箱口范围。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人 Robotiq 二指夹爪实际合拢夹住深红瓶瓶身，后续又尝试瓶颈夹持；视频 11.5–12.7 s、89.5–92.5 s 和 294.0–295.5 s 可见瓶子随夹爪抬起或转动，随后均滑脱，未被送入箱内。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.5, + "log_step": 72, + "text_zh": "观察：视频 40.0–44.0 s 机器人夹爪在另一瓶原先直立的橙红瓶两侧合拢，视频 44.5–47.0 s 瓶子在夹爪处倾转并移向桌边，视频 47.5–48.0 s 瓶子掉下桌面而夹爪中已无瓶；此前深红瓶仍在桌面。log step 71–72 记录了针对第二个目标瓶的抓取、移箱程序和执行。" + }, + { + "t": 65.0, + "log_step": 111, + "text_zh": "观察：视频 60.0–65.0 s 机器人随后空手移至箱口并张开夹爪，箱内没有瓶子；log step 111 的该次执行输出显示闭合后开度为 0.0584 m，抬升后为 0.0018 m。" + }, + { + "t": 314.933, + "log_step": null, + "text_zh": "观察：视频 314.0–314.933 s 灰箱仍为空；没有出现两瓶同时处于箱口轮廓内的状态。成功参考录像视频 25.0 s 与 50.0–52.6 s 的同类视角能清楚显示瓶身位于箱口范围内，本次对应移箱和终态画面没有该可见特征。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪在视频 40.0–47.0 s 对另一瓶原先直立的橙红瓶实施夹持，瓶子随夹爪倾转后滑脱落下桌边。这是面向第二个目标瓶的实际操作尝试，未形成两瓶入箱的数量状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_1", + "t": 13.0, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 11.5–12.7 s 机器人首轮夹提深红瓶，视频 13.0 s 瓶子已从夹爪滑回桌面，视频 25.0 s 机器人空手到箱口；此后视频 93.0 s 重试仍掉回桌面，视频 296.0 s 最终掉下桌边，直到视频 314.933 s 箱内仍为空。推断：第1瓶入箱是最早发生抓取失效且始终未完成修复的步骤，断点取首轮滑脱附近，而非后续掉落或录像结束。" + }, + "unmet": { + "bbq_bottles_in_bin_1": false, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 13.0, + "log_step": 59, + "evidence_zh": "观察：视频 11.5–12.7 s 深红瓶被机器人合拢的二指夹爪带起、转动，但在视频 13.0 s 回落到桌面，视频 14.5–15.0 s 夹爪已空手升高。视频 89.5–92.5 s 重抓时瓶子明确离桌随夹爪升高，视频 93.0 s 又滑落；这些均发生在到达灰箱前，后续没有完成该步。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：机器人已经抵达目标瓶并能夹起它，但夹持在抬升过程中反复失效，导致移箱动作无法携瓶完成（视频 11.5–15.0 s、89.5–93.0 s、294.0–296.0 s）。log step 58 的首轮程序在闭爪后直接抬升、移箱，未在抬升后核验瓶子是否仍随夹爪运动；log step 222 的最终执行输出又显示抬升后夹爪开度降至 0.0018 m 并放弃移箱。证据支持抓取保持与执行控制失败，但不足以细分为接触设计、力控制或轨迹参数问题。" + } + ], + "gap_zh": "没有状态日志或夹指接触力、接触点记录，不能确定反复滑脱具体由夹持几何、夹紧力还是抬升控制参数导致，根因仅标到控制。节点判断依据本次三视角录像；成功参考录像只用于辨认入箱的可见特征，agent 最终报告中的落地坐标和可达范围未作为节点事实。" + }, + "summary_zh": "本次两瓶均未进入灰箱，两个节点从初态到终态均为假，最终进度为0/2。机器人首轮夹提深红瓶后在视频约13.0 s 滑脱，后续重抓未完成该步；另一瓶在视频约47.5 s 掉下桌边，剩余瓶在视频约296.0 s 也掉下桌边，视频314.933 s 箱内仍为空。证据支持夹持保持的控制失败，但缺少接触力及状态日志，不能进一步确定具体控制子因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点均为假、最终0/2与帧一致（箱内全程为空）；断点取首瓶首次滑脱、现象没保持住、根因停在控制，均有视频支持，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": "2026-10-30T03:14:42Z", + "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/robolab-bbq-sauce-in-bin-i00-standard--kznvkby/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--kznvkby/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3d3512b518f0e2151d41c464776ac1509d533650728422c4988f7302b61d6fc7", + "video_sha256": "2a5e4dd0cd6cb722f2f4fd49bd58a238709f9fb4b1503827c75c4eb90ac5850b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy.json b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy.json new file mode 100644 index 0000000000000000000000000000000000000000..40d5811a447dfa97cbe0223edfc121eb2b18cfa6 --- /dev/null +++ b/phase2/robolab/bbq_sauce_in_bin/trajectories/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-bbq-sauce-in-bin-i00-standard--saqvwpy", + "taskKey": "robolab/bbq_sauce_in_bin", + "dag_sha256": "5884aeff1a057032655b5897b9c76919c9fd4b12870d0f88c1010f904d5dd8c2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 0, + "n_actions": 3752, + "sim_steps": 3752, + "physics_steps": 30016, + "steps": 272, + "elapsed_s": 5255.3, + "video_rendered": 0, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy/replay.mp4", + "duration_s": 250.2, + "fps": 15.0, + "frames": 3753, + "sha256": "d1c62b26787517ea899107462d05ba68aeea42b945d9e590d0d3288b95ab9c2a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "bbq_bottles_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 168.5, + 169.3 + ], + [ + 170.5, + 171.3 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 两瓶红色烧烤酱均在灰箱外的桌面，灰箱内为空；视频 15.5 s 原先竖立的浅红瓶已被机械臂碰倒。" + }, + { + "t": 77.9, + "log_step": 145, + "text_zh": "观察：视频 76.5–77.7 s 二指夹爪夹住深红瓶靠近瓶颈处并提起，视频约 77.9 s 瓶子从夹指间脱离并飞出桌面区域；视频 78.3–84 s 夹爪为空，灰箱仍空。log step 145 的现场反馈为夹爪开度降至 0.0018、LOST (empty)，与该次失手一致。" + }, + { + "t": 168.8, + "log_step": 168, + "text_zh": "推断：视频 168.4–169.3 s 和视频 170.4–171.3 s 的正面、左肩及腕部连续帧显示，机械臂所夹浅红瓶在灰箱边缘上方往返；视频 168.8 s、171.0 s 两外部视角及腕部视角共同支持瓶身中心已进入箱口沿上轴延伸的范围。按 DAG 允许高于箱沿且仍被夹持的几何计数，记两段约为视频 168.5–169.3 s、170.5–171.3 s；边界约有 0.3 s 误差。视频 169.4–170.2 s 中间一段瓶身回到桌面红碗上方，持续超过 0.3 s，因此两段不合并。" + }, + { + "t": 172.4, + "log_step": 169, + "text_zh": "观察：视频 171.4–172.2 s 机械臂持瓶回摆至桌面红碗一侧，随后张开夹指；视频 172.4–172.6 s 浅红瓶在灰箱外飞离夹爪，视频 175–215 s 的多次箱内观察均见空箱。agent 在 log step 169 自述瓶子已放进箱里，但视频不支持松手后入箱，后续 log step 172 也改称箱内为空。" + }, + { + "t": 250.13, + "log_step": null, + "text_zh": "观察：视频 222 s 腕部视角可见浅红瓶躺在桌下地面；视频 249.2–250.13 s 末秒检查仍见该瓶留在地面，未被取回。视频末尾桌面和箱体已不再正常呈现，结合此前两瓶均已在箱外丢失且没有再次取回动作，终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda末端Robotiq二指夹爪实际夹住深红酱瓶的瓶颈附近并提起（视频 76.5–77.7 s），随后失手；也实际夹住浅红瓶搬运（视频约 87–172.2 s），短暂建立至少一瓶入箱的几何关系。视频约 15.5 s 的初次退臂还碰倒了浅红瓶。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 15.5 s 机械臂夹爪退回时碰动原先竖立的浅红酱瓶，使其倒在桌面；之后继续进行夹取。" + } + ] + }, + "bbq_bottles_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 77.9, + "log_step": null, + "text_zh": "观察：视频 0–77.7 s 两瓶均在灰箱外；视频约 77.9 s 深红瓶从夹爪脱离后离开桌面，视频 78.3 s 起外部视角不再见它留在原位，灰箱内仍为空。" + }, + { + "t": 171.0, + "log_step": null, + "text_zh": "观察：视频 168.8 s、171.0 s 仅有仍被夹持的浅红瓶到达箱口上方，箱内没有另一瓶；视频 172.4–175 s 浅红瓶也在箱外脱离夹爪，随后观察到空箱。全程没有两瓶同时进入灰箱范围的画面；成功参考录像的参考视频 52.67 s 则能清楚看到两瓶均在箱内，此类完成状态在本段录像中缺席。" + }, + { + "t": 250.13, + "log_step": null, + "text_zh": "推断：视频 222 s 及视频 249.2–250.13 s 可见浅红瓶仍在地面，末段没有重新拾取并放入的动作；已丢失的两瓶未被同时送回箱内，故第2瓶入箱终值为假。这一结论依据连续操作和瓶子去向，而非仅依据评分器 success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人实际对两瓶都进行了夹取；视频约 87–172.2 s 夹爪夹住另一瓶浅红酱并提起、搬运，最后在箱外松开。记录对另一瓶的实际操作；当时深红瓶已丢失，这些接触未形成至少两瓶同时入箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bbq_bottles_in_bin_1", + "t": 171.3, + "log_step": 168, + "where": "操作中", + "evidence_zh": "观察：视频 168.5–169.3 s 的浅红瓶入箱几何关系失去后，视频约 170.5–171.3 s 曾再次恢复；视频约 171.3 s 机械臂又将仍夹持的瓶子带回箱外红碗一侧，视频 172.2–172.6 s 在箱外松手、瓶子飞离，之后没有重新入箱。推断：按数量节点，前面的失手和首次几何丢失已由后一次至少一瓶入箱修复，最后这次失去第1瓶入箱状态未修复，故断点取此步。" + }, + "unmet": { + "bbq_bottles_in_bin_1": false, + "bbq_bottles_in_bin_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 172.2, + "log_step": null, + "evidence_zh": "观察：视频 170.4–172.2 s 机械臂持浅红瓶在灰箱后沿上方与桌面红碗上方反复回摆；视频约 172.2 s 夹指开始张开时，瓶身已回到灰箱外，视频 172.4–172.6 s 瓶子飞往箱外。该次为松手前位置未保持在目标范围，未见松手后在箱内安放再滚出的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 171.3, + "log_step": 168, + "evidence_zh": "推断：视频约 87–162 s 浅红瓶能随夹爪持续悬持，搬运目标是灰箱，但视频 163–172.2 s 末端反复大幅回摆，未能在目标范围内完成松手。log step 161 的脚本确实发出持瓶向灰箱搬运再张开的指令，log step 168 的服务反馈中前两段搬运为 not converged，位置误差分别为 0.1239 m 和 0.153 m；这支持搬运执行控制失败。因回放一致性字段为 0，不能把现场各行反馈精确绑定到视频各次回摆，也不足以进一步确定逆解、跟踪或接触力中的具体机制，根因停在控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志，凸包质心的精确边界及夹指接触力无法直接测量，两段短暂入箱由三视角连续帧判断，端点约有 0.3 s 不确定性。reward 的 live_matches_replay=0、deterministic=0，故节点以视频为准，现场脚本与反馈只辅助归因。log steps 196–218 记录后段服务失联与恢复，log step 232 起反馈本体状态为 NaN；视频 249.2–250.13 s 也显示桌面物体消失、腕部末帧为纯棕色，无法据此诊断服务异常的机制。两瓶在该异常之前已于视频约 77.9 s、172.4 s 在箱外丢失，故保留先前有画面证据且未修复的物理失败，不把后段异常臆归机器人原因。" + }, + "summary_zh": "机器人实际夹取过两瓶酱，但深红瓶提起后失手，浅红瓶搬运时仅在视频约 168.5–169.3 s、170.5–171.3 s 短暂满足第1瓶入箱的几何条件，两瓶同时入箱从未达到，最终为0/2。断点为第1瓶入箱状态最后丢失：机械臂回摆后在箱外松手，证据支持搬运控制失败。无状态日志且现场与回放一致性字段为0，短暂几何区间为视觉估计；后段另有服务失联、NaN与画面异常，不能据此确定异常机制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 168.8 s、170.9 s 三视角下被夹瓶确在箱口上方范围内，172.6 s 瓶子在箱外飞离、箱空，节点区间、终值、断点、位姿不准与控制根因均有证据支持，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": "2026-10-30T03:01:11Z", + "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/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-bbq-sauce-in-bin-i00-standard--saqvwpy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f7cb38c82b98657e639fc592bbec654cc1284939e90f275922f30c539ad4fb2f", + "video_sha256": "d1c62b26787517ea899107462d05ba68aeea42b945d9e590d0d3288b95ab9c2a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--bmdzkgw.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--bmdzkgw.json new file mode 100644 index 0000000000000000000000000000000000000000..e318d2a40741b0ca6b6a5e06618f441ac2004d3b --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--bmdzkgw.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-privileged--bmdzkgw", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1387, + "sim_steps": 1417, + "final_reward": 0.6667, + "replay_wall_s": 993.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 0, + "agent_sim_steps": 7411, + "agent_records": 10, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.778, + "peak_memory_gb": 15.469, + "peak_processes": 13, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-food-packing3-cans-i00-privileged--bmdzkgw/replay.mp4", + "duration_s": 94.533, + "fps": 15.0, + "frames": 1418, + "sha256": "57f4a5562441150a4d377be6247b7514296215a7721391bd74a80457ec93257e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 5–11 s，机器人二指夹爪夹住蓝色罐身、绿色长方形罐盖的午餐肉罐并提离原桌面；视频约 14.0 s，腕部及外部视角显示其中心移到深灰箱口范围上方，随后下降。入箱时仍被夹持，按本节点无高度上限且允许持物的判据计入，边界时刻约有 0.5 s 误差。" + }, + { + "t": 94.4, + "log_step": null, + "text_zh": "观察：视频 34–38 s，机器人松爪撤离，午餐肉罐留在箱底；视频 40–94.4 s 的连续分段检查及末秒逐帧检查中，该罐始终位于箱内，未再被搬出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Franka 单臂的 Robotiq 二指夹爪从两侧夹住午餐肉罐罐身，提起并搬入箱内，随后松开撤离。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 51.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 51.0, + "log_step": null, + "text_zh": "观察：视频 42–48 s，机器人二指夹爪夹住红白标签番茄汤罐并从布丁盒上提起，原位置留下布丁盒；视频约 51.0 s，罐体中心随夹爪进入深灰箱口上方，视频 52.8–59 s 可见该罐下降到箱内。持物时空间关系已成立，入箱边界时刻约有 0.5 s 误差。" + }, + { + "t": 94.4, + "log_step": null, + "text_zh": "观察：视频 60–67 s，机器人张开夹爪并撤离番茄汤罐；视频 68–94.4 s 及末秒逐帧检查显示红白罐身一直留在箱内，与午餐肉罐同时满足空间关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Franka 单臂的 Robotiq 二指夹爪夹住番茄汤罐罐身，抬离布丁盒、搬入箱内并松爪撤离。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 73.0, + "log_step": null, + "text_zh": "观察：视频 68–73 s，机器人空爪移向银色圆盖、蓝色矮罐身的金枪鱼罐，随后视频 73–83 s 夹爪停在其附近，罐头仍留在箱外桌面。" + }, + { + "t": 85.0, + "log_step": null, + "text_zh": "观察：视频 83–85.4 s 的腕部密集帧显示夹指闭合在金枪鱼罐近侧，未从两侧围夹住罐身；视频 85.6–89 s，夹爪上升并移向箱子时为空，金枪鱼罐仍在原桌面。视频 93.53–94.47 s 逐帧及视频 94.4 s 外部视角确认其最终仍在箱外。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人确实用 Robotiq 二指夹爪接近金枪鱼罐并在其近侧闭合，但未形成可见的对向夹持或搬起；画面不能可靠区分是否有夹指短暂擦碰罐沿，因此不把闭爪动作当作已发生的抓握接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "tuna_can_in_bin", + "t": 73.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 68–73 s，机器人转向金枪鱼罐并下探，视频 73–83 s 停在罐旁未将其夹起；视频 83–89 s 的补救闭爪、抬升和向箱内移动仍为空载，直至视频 94.4 s 金枪鱼罐仍在桌面。该入箱步骤的抓取失败始终未被修复。" + }, + "unmet": { + "spam_can_in_bin": true, + "tomato_soup_can_in_bin": true, + "tuna_can_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 84.0, + "log_step": null, + "evidence_zh": "观察：视频 83.0–85.4 s，机器人夹指在金枪鱼罐近侧闭合，未建立搬运所需的对向夹持；视频 85.6–89 s，夹爪离开时罐头仍在桌上，夹爪中没有罐头，未出现先夹起再掉落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：录制生成器在金枪鱼罐下降抓取目标 [0.338, -0.169, 0.013] 处未收敛，报位置误差 71.2 mm、旋转误差 7.4 度并保存 1254 行（log step 310）；agent 随后用静态 IK 求解并按关节插值追加抓取与搬运动作（log step 312），最终文件为 1387 行（log step 315、317），agent 明言未重放验证（log step 318）。评分视频 73–83 s 的下探停滞及视频 84–89 s 的偏位闭爪、空载搬运与这次末端抓取位姿执行失败一致，支持轨迹或逆解层面的控制失败；不将录制日志的 agent 时刻转换为视频时刻。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 评分器字段 / 视频", + "evidence_zh": "观察：log step 310 的录制生成器因金枪鱼罐下降目标未收敛而报错，保存 1254 行、success=False、progress=0.6667 的轨迹；log step 312 中 agent 的补救脚本读取这 1254 行，以末行关节目标为种子，仅调用静态 IK 并按关节插值追加闭爪、抬升、搬运和松爪动作后保存，未执行这些动作作仿真验证。log step 315、317 确认最终文件为 1387×8，log step 318 中 agent 自述“未能在时限前重放最终文件”；inputs/run.json 的 reward.agent_replays=0、deterministic=1、n_actions=1387。视频 85.0 s 夹爪在罐旁闭合，视频 87–89 s 空载移向箱内，视频 94.4 s 金枪鱼罐仍在箱外桌面。推断：agent 将未经重放验收的拼接补救轨迹作为最终交付，符合 DECISIONS.md N10 的交付操作出错，与已有轨迹或逆解根因并列。" + } + ], + "gap_zh": "无状态日志，无法精确复核凸包质心过箱壁边界的瞬间，两个入箱时刻约有 0.5 s 视觉误差；金枪鱼罐附近的单指瞬时擦碰及接触力无法从画面确定。日志给出下降未收敛，但缺少最终补救段的实际关节跟踪与接触读数，不能进一步确定具体的 IK 分支、限位或碰撞因素。" + }, + "summary_zh": "评分视频中，机器人将午餐肉罐和番茄汤罐分别于视频约 14.0 s、51.0 s 搬到箱口范围内，两罐留到末帧，最终完成 2/3 节点。金枪鱼罐抓取时末端未到有效夹持位置，补救闭爪后仍空载移向箱内，断点为金枪鱼罐入箱；日志中的下降未收敛支持轨迹或逆解控制失败，agent 又在报错保存的轨迹后拼接静态 IK 补救段并未经重放验收即交付，另构成交付操作出错（log step 310、312、315、317、318；reward.agent_replays=0）。缺少状态与接触日志，入箱边界时间及单指瞬时接触仍有不确定性。", + "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（两罐入箱约 14 s / 51 s、金枪鱼罐未入箱、断点 tuna_can_in_bin、没建立接触）与帧一致，无异议。唯一问题：根因漏了交付层——agent 把未经重放的静态 IK 补救段拼接到已保存轨迹后交付。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（午餐肉罐约 14 s、番茄汤罐约 51 s 入箱，金枪鱼罐未入箱）、断点、现象和两个根因（含上一轮已加入的交付·交付操作出错）与帧一致，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": "2026-10-30T03:21:36Z", + "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/robolab-food-packing3-cans-i00-privileged--bmdzkgw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--bmdzkgw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--bmdzkgw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--bmdzkgw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "82d6b40466733b1a80059eb0ab7c3954738ac06c1cd2f4e5b54f2a9a2ec4e194", + "video_sha256": "57f4a5562441150a4d377be6247b7514296215a7721391bd74a80457ec93257e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--fgs2qvb.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--fgs2qvb.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cb145238527e0b5ac0471bcf958e6255cd33c2 --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--fgs2qvb.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-privileged--fgs2qvb", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1228, + "sim_steps": 1228, + "final_reward": 0.0, + "replay_wall_s": 682.9, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 34, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-food-packing3-cans-i00-privileged--fgs2qvb/replay.mp4", + "duration_s": 81.933, + "fps": 15.0, + "frames": 1229, + "sha256": "c4adf857f801574bcd672938fadb5710dbcaaef0097b9eae9cc97d3768751d7d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：视频 40.0–48.0 s，机器人二指夹爪合拢夹住绿色长方罐盖、蓝色罐身的午餐肉罐；视频 46.0–48.0 s 罐头离开原桌面并随夹爪抬升，尚在箱外。" + }, + { + "t": 54.8, + "log_step": null, + "text_zh": "观察：视频 54.733–55.267 s，午餐肉罐离开夹爪，翻滚越过箱外桌面并离开桌边；左肩视角可见它沿箱体外侧飞出，没有进入箱壁围成的范围。视频 56.0–81.8 s 机器人随后空爪移动，末帧箱内仅见原有黄色瓶，没有午餐肉罐。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44.0–54.667 s，Franka 单臂的 Robotiq 二指夹爪对夹午餐肉罐罐身，抬起并携带；视频约 54.733 s 罐头脱离，后续到箱上方的动作为空爪。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 10.0–16.2 s，机器人二指夹爪夹住红白标签番茄汤罐并从布丁盒上抬离；左肩视角显示罐头仍在箱外桌面上方。" + }, + { + "t": 16.267, + "log_step": null, + "text_zh": "观察：视频 16.2 s 汤罐仍夹在双指之间，视频 16.267 s 夹爪已空，随后腕部大幅转动；视频 17.2–30.0 s 的箱内视角以及视频 81.0–81.8 s 末段均仅见黄色瓶，汤罐没有出现在箱内，机器人也没有再次抓回汤罐。" + }, + { + "t": 81.8, + "log_step": 80, + "text_zh": "推断：log step 80 的生成会话输出称番茄汤罐位置为 [0.622,0.421,0.038]、progress=0.3333，但评分视频的夹持丢失及持续可见的空箱区域不支持这次入箱；以视频判断该节点始终未达成。评分器的 success=0、deterministic=1 只说明提交未通过且重放一致，不用于单独推定汤罐位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.0–16.2 s，Robotiq 二指夹爪夹住番茄汤罐罐身并抬升、搬运；视频 16.267 s 已不再持罐，没有完成入箱放置。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": 77, + "text_zh": "观察：视频 48.0–54.667 s，机器人携带午餐肉罐移到矮圆金枪鱼罐附近并倾斜下降，金枪鱼罐仍留在原桌面；log step 77 的生成脚本说明该动作用午餐肉罐尝试铲起金枪鱼罐，故这是对本节点的尝试。腕部画面中午餐肉罐遮住相邻间隙，不能确认两罐是否真正接触。" + }, + { + "t": 81.8, + "log_step": null, + "text_zh": "观察：视频 54.733 s 午餐肉罐脱离后，金枪鱼罐仍在原处；视频 56.0、60.0、64.0、68.0、72.0、76.0、80.0 s 及视频 81.0–81.8 s，它一直留在箱外桌面，夹爪此后未将它拿起或搬入箱内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 48.0–54.667 s，机器人持午餐肉罐在金枪鱼罐附近倾斜下降，尝试以其作工具；近处接触间隙被午餐肉罐和夹爪遮挡，无法确认工具与金枪鱼罐的实际接触方式，未见托起。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "tomato_soup_can_in_bin", + "t": 16.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 12.0–16.2 s，机器人正夹持番茄汤罐从初始位置向箱方向搬运；视频 16.267 s 夹爪已空，随后腕部转动且未再取回汤罐。视频 17.2–30.0 s 和视频 81.0–81.8 s 可见箱内没有汤罐，这是最早发生且直到结束也未完成的步骤；午餐肉罐随后在视频约 54.733 s 脱离，金枪鱼罐一直留在桌面。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 16.3, + "log_step": null, + "evidence_zh": "观察：视频 11.0–16.2 s，汤罐已离开原支承物并随机器人夹爪运动；视频 16.267 s 双指之间已无汤罐，视频 17.2 s 后机器人继续空爪执行箱上方的移动，箱内没有汤罐。推断：此前已建立的夹持在入箱前丢失，后续未修复。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 内没有逐帧状态日志；番茄汤罐在视频 16.2–16.267 s 之间离开夹爪，后续位置在各视角之外，缺少接触力、夹爪指令及关节跟踪数据，无法区分夹持设计、轨迹执行或其他具体原因，故根因留空。log step 80 的生成会话输出称汤罐已入箱，与评分视频不符；log step 81 的重放命令没有返回可用结果，不能据此解释差异或归咎环境、交付。金枪鱼罐附近的工具接触间隙受遮挡，contact_actual 标未知；其始终留在箱外及三个节点的最终未达成均可从视频判断。", + "unmet": { + "spam_can_in_bin": false, + "tomato_soup_can_in_bin": false, + "tuna_can_in_bin": false + } + }, + "summary_zh": "评分视频中三罐均未形成可确认的入箱关系，最终完成 0/3：番茄汤罐先被夹起，视频约 16.3 s 搬运中失去夹持，之后未修复。机器人随后抓起午餐肉罐并靠近金枪鱼罐尝试铲取，午餐肉罐在视频约 54.733 s 脱离，金枪鱼罐始终留在箱外桌面。log step 80 所称汤罐已入箱与评分视频不符，按视频判定；无逐帧状态和接触数据，不能确定首次夹持丢失的根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三节点未达成、断点为番茄汤罐搬运中夹持丢失（视频约16.3 s）与帧一致；午餐肉罐54.7 s被甩出桌外，金枪鱼罐未动，标注与视频相符，根因留空有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": "2026-10-30T03:00:19Z", + "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/robolab-food-packing3-cans-i00-privileged--fgs2qvb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--fgs2qvb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "094d7eefa515fe076a0cf0252dbc536cfb0cb5136bcac79a78bdb339d41629c9", + "video_sha256": "c4adf857f801574bcd672938fadb5710dbcaaef0097b9eae9cc97d3768751d7d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--gutpbjq.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--gutpbjq.json new file mode 100644 index 0000000000000000000000000000000000000000..37522a5e443def8a3ee5b7b98d118bd10efe60cd --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--gutpbjq.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-privileged--gutpbjq", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 862, + "sim_steps": 881, + "final_reward": 1.0, + "replay_wall_s": 629.4, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 29, + "agent_sim_steps": 10531, + "agent_records": 3, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.023, + "peak_memory_gb": 7.472, + "peak_processes": 10, + "peak_disk_gb": 0.0, + "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/robolab-food-packing3-cans-i00-privileged--gutpbjq/replay.mp4", + "duration_s": 58.8, + "fps": 15.0, + "frames": 882, + "sha256": "cc6007072ea77339515635838bfe3a5fb603fb6298910ab7923610216e36599d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 30.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，蓝色罐身、绿色长方形罐盖的午餐肉罐直立于箱外桌面。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "观察：视频 26.0 s，机器人二指夹爪夹住午餐肉罐两侧；视频 28.0 s，罐头随夹爪抬起，桌面原位置已空。" + }, + { + "t": 30.3, + "log_step": null, + "text_zh": "推断：视频 29.8—30.6 s 的多视角画面显示机器人将午餐肉罐从箱外搬至箱口上方；约在视频 30.3 s，罐头中心进入箱壁围成的范围，之后下降。此节点允许持物且无高度上限，故无需等到松手；精确边界约有 0.5 s 不确定性。" + }, + { + "t": 58.73, + "log_step": null, + "text_zh": "观察：视频 33.6—35.2 s，夹爪张开、午餐肉罐留在箱内；后续画面及视频 58.73 s 末帧显示它仍在箱内，夹爪已转去搬运金枪鱼罐。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26.0—30.6 s，机器人用同一二指夹爪夹住午餐肉罐两侧，抬起并搬至箱口；视频 33.6—35.2 s，夹爪张开放下罐头。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 11.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红白番茄汤罐位于箱外的布丁盒上。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 6.0 s，机器人二指夹爪从两侧夹住番茄汤罐；视频 8.0 s，罐头已随夹爪升起，原来的布丁盒上不再有罐头。" + }, + { + "t": 11.0, + "log_step": null, + "text_zh": "推断：结合视频 10.8、10.93、11.07、11.2 s 的正面、侧面和腕部画面，番茄汤罐在向箱口搬运时脱离夹爪、转动并落入箱内，中心约在视频 11.0 s 进入箱体范围，边界时间约有 0.3 s 不确定性。" + }, + { + "t": 58.73, + "log_step": null, + "text_zh": "观察：视频 11.33 s 后番茄汤罐横卧箱内；后续粗查画面及视频 57.87、58.13、58.4、58.67、58.73 s 均显示它仍在箱内，机器人未再将它取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.0—8.0 s，Franka 单臂的二指夹爪从两侧夹住番茄汤罐并抬离布丁盒；视频 10.8—11.2 s，罐头脱离夹爪后落入箱中。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 55.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，蓝色侧壁、银色圆盖的矮圆金枪鱼罐在箱外桌面。" + }, + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 44.0、48.0 s，机器人二指夹爪围住金枪鱼罐两侧；视频 52.0 s，罐头已随夹爪升起，原桌面位置已空。" + }, + { + "t": 55.5, + "log_step": null, + "text_zh": "推断：视频 54.8—56.2 s 的三视角画面显示机器人将金枪鱼罐搬过箱口边缘并朝箱内下降，中心约在视频 55.5 s 进入箱体沿上轴开放的范围，边界时间约有 0.5 s 不确定性；空间节点允许仍被夹住，不要求低于箱沿。" + }, + { + "t": 58.73, + "log_step": null, + "text_zh": "观察：视频 57.87—58.73 s，金枪鱼罐仍在箱口上方并靠近夹指，前两罐留在箱内；末帧未显示金枪鱼罐落底，无法仅凭画面精确判断指面是否接触。" + }, + { + "t": 58.73, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1，结合视频中的三罐空间位置，确认末态三罐均满足入箱关系且通过联合夹指脱离验收；不把金枪鱼罐尚在箱口上方视为未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44.0—52.0 s，Franka 单臂的二指夹爪从两侧夹住金枪鱼罐并抬离桌面，随后将它搬到箱口上方；视频末帧罐头仍靠近夹指，精确脱离状态由评分器成功结果支持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人依次把番茄汤罐、午餐肉罐和金枪鱼罐搬入箱体范围，三个空间节点约在视频 11.0、30.3、55.5 s 达成并保持到末帧，评分器 success=1、all_success=1、deterministic=1。视频 58.73 s 的金枪鱼罐仍在箱口上方，按本任务沿箱体上轴无高度上限的判据可以完成，联合夹指脱离验收由评分结果支持。无状态日志，凸包边界时刻只能由多视角近似估计，末帧的精确指面接触无法直接分辨。", + "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，三个空间节点时间与帧一致（番茄汤约11 s入箱、午餐肉约30 s、金枪鱼约55.5 s，允许持物），contact_actual与画面相符，failure为空合理。", + "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": "2026-10-30T03:21:21Z", + "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/robolab-food-packing3-cans-i00-privileged--gutpbjq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--gutpbjq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "94d6b640868c9452d68ff4c908b59398c123944e1265878d0e82af968df1f630", + "video_sha256": "cc6007072ea77339515635838bfe3a5fb603fb6298910ab7923610216e36599d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--nekktiy.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--nekktiy.json new file mode 100644 index 0000000000000000000000000000000000000000..11c512019572c614ae849a2c4c09dac219f593a4 --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--nekktiy.json @@ -0,0 +1,242 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-privileged--nekktiy", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.3333, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 2877, + "sim_steps": 2877, + "final_reward": 0.3333, + "replay_wall_s": 1335.7, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 29, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.026, + "peak_memory_gb": 7.311, + "peak_processes": 12, + "peak_disk_gb": 1.009, + "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/robolab-food-packing3-cans-i00-privileged--nekktiy/replay.mp4", + "duration_s": 191.867, + "fps": 15.0, + "frames": 2878, + "sha256": "e32f748d9fb7239d6ca33668bea6a60066011a73dd68e4ca1c5bb9d60a01431a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 154.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色长方形罐盖、蓝色罐身的午餐肉罐位于深灰箱左侧桌面，起始未入箱。" + }, + { + "t": 154.0, + "log_step": null, + "text_zh": "观察：视频 151.0–153.4 s，机器人二指夹爪夹住午餐肉罐并将它从原桌面位置抬起；视频 153.6–154.2 s 将罐头横移越过箱壁，约视频 154.0 s 中心进入箱口范围，尚未松手也满足本节点。边界时刻为目测，误差约半秒。" + }, + { + "t": 191.8, + "log_step": null, + "text_zh": "观察：视频 158.0 s 夹爪已打开，午餐肉罐留在箱内；视频 160.0–191.8 s，包括视频 190.9、191.3、191.8 s 的末段帧，均可见它在黄色芥末瓶旁的箱内，未再次移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人 Robotiq 二指夹爪在视频约 145.0–158.0 s 合拢夹住午餐肉罐罐身，抬升、搬运入箱后张开释放。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 183.0, + "log_step": null, + "text_zh": "观察：视频 0.0–182.0 s，红白标签的番茄汤罐一直在箱外、巧克力布丁盒旁；视频 183.0–185.2 s，机器人二指夹爪将其夹起，原桌面位置已空，罐头仍在箱外。" + }, + { + "t": 185.6, + "log_step": null, + "text_zh": "观察：视频 185.4 s，番茄汤罐在夹爪处倾斜；视频 185.6 s 左肩视角可见红白罐头已脱离夹爪，出现在机器人腕部右上方，机器人随后空夹爪移向箱口。罐头脱离前中心未进入箱口范围。" + }, + { + "t": 191.8, + "log_step": null, + "text_zh": "推断：视频 185.8–191.8 s 未见番茄汤罐进入箱内，末帧箱内可见的目标罐头只有午餐肉罐；run.json 的 reward.final_reward=0.3333 与已确认的午餐肉罐入箱一致，支持番茄汤罐末态未入箱。log step 148 声称两只高罐均搬运释放入箱，与这段视频不符，按评分视频判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪在视频约 170.0–185.4 s 合拢夹住番茄汤罐，视频 183.0 s 起将其抬离桌面，视频约 185.6 s 搬运刚开始时罐头脱离夹爪，未送入箱内。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，蓝色侧壁、银色圆盖的矮金枪鱼罐位于箱外、红色饼干盒旁。视频 14.0–58.5 s 机器人以张开的夹爪下降，一根夹指抵在罐盖区域；视频 59.0–61.5 s 夹爪抬起时罐头仍在桌面，没有随夹爪搬离。" + }, + { + "t": 128.0, + "log_step": null, + "text_zh": "观察：视频 78.0–126.0 s，机器人换一侧再次下降、用夹指抵压金枪鱼罐；视频 127.0–128.0 s 夹爪再次空手抬离，罐头仍在原来附近的箱外桌面。随后机器人改为处理午餐肉罐和番茄汤罐，没有再搬运金枪鱼罐。" + }, + { + "t": 191.8, + "log_step": null, + "text_zh": "观察：视频 158.0–191.8 s，银色圆盖、蓝色侧壁的金枪鱼罐始终可见于箱左侧桌面；视频 191.8 s 仍未入箱。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人张开的 Robotiq 夹爪先后从两侧下降，以单根夹指抵压金枪鱼罐罐盖/靠近罐沿的区域（视频约 14.0–59.0 s、80.0–126.0 s）；未见二指合拢包夹并带走罐头。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "tuna_can_in_bin", + "t": 59.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 14.0–58.5 s 机器人夹指抵压金枪鱼罐，视频 59.0–61.5 s 抬起夹爪时罐头留在箱外桌面。视频 78.0–128.0 s 的另一侧重试也未将它带走，之后转去搬运另外两罐，至视频 191.8 s 金枪鱼罐仍在箱外；这是最先失败且始终未修复的入箱步骤。" + }, + "unmet": { + "spam_can_in_bin": true, + "tomato_soup_can_in_bin": false, + "tuna_can_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 59.5, + "log_step": null, + "evidence_zh": "观察：视频 58.0–59.0 s 夹指仍在金枪鱼罐盖附近；视频 59.5–61.5 s 夹爪已向上离开而罐头没有随动，视频 127.0–128.0 s 再次空手抬起。机器人虽触到了罐头，但未建立能夹持并搬运它的接触，不能把抵压罐盖算作成功抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "视频", + "evidence_zh": "推断：视频 14.0–58.5 s 与视频 80.0–126.0 s 显示机器人保持夹爪张开，以一根夹指偏置抵压金枪鱼罐盖/罐沿，另一指在外侧，没有形成搬运所需的对向夹持，两次上提均空手。log step 104 的提交轨迹生成脚本也明确采用 open_gripper 后偏置下降、横移抵压、直接上提的 tuna_inside 动作，缺少合拢包夹；log step 137、143、147 确认最终提交的是该脚本生成的 2877 步录制。成功参照 inputs/oracle/replay.mp4 的视频 45.0–55.0 s 可见同一夹爪夹起并运走金枪鱼罐，说明存在已验证的替代抓法；该参照仅用于判断替代方案可行，不用于本轨迹节点进度。" + } + ], + "gap_zh": "没有逐帧状态日志或接触力读数，无法精确确认夹指接触罐头的具体碰撞面及箱体凸包边界，午餐肉罐入箱时间为视频目测。log step 132 的会话读数称金枪鱼罐被部分抬高，而评分视频 127.0–128.0 s 未见它被带离桌面；不将该会话读数当作成功抓取证据。番茄汤罐在视频 185.6 s 脱离夹爪后的完整落点不在视野内，其末态未入箱由后续箱内画面及评分总量共同支持。" + }, + "summary_zh": "评分轨迹最终仅午餐肉罐入箱（约视频 154.0 s 起），节点末态为 1/3，与评分器 final_reward=0.3333 一致。最先未修复的失败是金枪鱼罐入箱：机器人用张开夹爪的单指抵压罐盖，两次上提均未建立搬运夹持；之后番茄汤罐虽被夹起，也在视频约 185.6 s 脱离夹爪而未入箱。缺少逐帧状态日志，箱口边界时间为目测，番茄汤罐脱离后的完整落点不可见。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与评分器 final_reward=0.3333 一致：仅午餐肉罐入箱，金枪鱼罐始终在箱外桌面，番茄汤罐在视频 185.6 s 前后脱离夹爪、末帧不在箱内。断点在金枪鱼罐（最先失败且未修复），现象与根因与帧一致，未发现需改动的问题。", + "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": "2026-10-30T03:19:42Z", + "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/robolab-food-packing3-cans-i00-privileged--nekktiy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-privileged--nekktiy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd8746846fabd2443de00aabc2abc50bf21df7ec3e36211e551930787701de67", + "video_sha256": "e32f748d9fb7239d6ca33668bea6a60066011a73dd68e4ca1c5bb9d60a01431a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--vdg6xcu.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--vdg6xcu.json new file mode 100644 index 0000000000000000000000000000000000000000..29ba450251a41fdc038085d667c1c56e8e4f86c1 --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-privileged--vdg6xcu.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-privileged--vdg6xcu", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1730, + "sim_steps": 1730, + "final_reward": 0.6667, + "replay_wall_s": 1099.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 15, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-food-packing3-cans-i00-privileged--vdg6xcu/replay.mp4", + "duration_s": 115.4, + "fps": 15.0, + "frames": 1731, + "sha256": "2bb531a06767612ce8ea79b73db3861e7911472c0d8ab737ee575e703ae207f0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 28.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：视频 4.0–7.3 s，Franka 单臂的二指夹爪下降夹住蓝身绿盖午餐肉罐，随后罐头离开原桌面位置并随夹爪上升。" + }, + { + "t": 28.3, + "log_step": null, + "text_zh": "观察：视频 27.7–29.0 s，机器人夹持午餐肉罐横移越过深灰箱的侧壁，约视频 28.3 s 罐头中心进入箱口上方范围；此时仍持物，按 DAG 的无高度上限、持物也可成立规则计入，边界时刻约有 0.5 s 视觉误差。" + }, + { + "t": 115.333, + "log_step": null, + "text_zh": "观察：视频 54.0 s 夹爪已松开，午餐肉罐落在箱内；视频 56.0–114.0 s 的连续抽帧及视频 114.4–115.333 s 的末秒逐帧均显示它留在箱内，末态绿盖罐倾斜但中心仍在箱壁围成范围。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.0–54.0 s，Franka 的 Robotiq 二指夹爪夹住午餐肉罐两侧，抬起、搬运至箱口内并松开。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 74.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 70.0, + "log_step": null, + "text_zh": "观察：视频 60.0–68.0 s 机器人二指夹爪包夹红白番茄汤罐，视频 70.0 s 罐头离开布丁盒上方原位置并随夹爪抬升，原位置仅剩布丁盒。" + }, + { + "t": 74.3, + "log_step": null, + "text_zh": "观察：视频 73.0–75.0 s，机器人夹持番茄汤罐越过箱壁，约视频 74.3 s 罐头中心进入箱口上方范围；按 DAG 持物也可满足空间关系，边界时刻约有 0.5 s 视觉误差。" + }, + { + "t": 115.333, + "log_step": null, + "text_zh": "观察：视频 80.0 s 番茄汤罐已释放在箱内，后续抽帧至视频 114.0 s 及视频 114.4–115.333 s 末秒逐帧显示罐头一直留在箱内；末态腕部视角清楚可见红白罐，夹指已与罐头分离。" + }, + { + "t": null, + "log_step": 66, + "text_zh": "观察：log step 66 的会话测试输出称番茄汤罐在桌外、progress=0.3333，log step 69 的 agent 最终报告重复该说法；评分视频的实际末态显示番茄汤罐在箱内，评分器字段 final_reward=0.6667、deterministic=1，因此节点值依据评分视频，未采用会话复测的物体位置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 60.0–80.0 s，Franka 的 Robotiq 二指夹爪夹住番茄汤罐两侧，将它从布丁盒上方抬起并搬入箱中后释放。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 蓝侧壁银色圆盖的矮金枪鱼罐在箱外桌面，位于红色饼干盒与番茄汤罐之间。" + }, + { + "t": 115.333, + "log_step": 53, + "text_zh": "观察：完整视频每视频 2–4 s 抽帧、关键动作密集帧及视频 114.4–115.333 s 末秒逐帧中，金枪鱼罐始终留在原桌面位置，机器人未向它实施抓取或推移；末态仍在箱外。log step 53 的脚本将记录截在最后一次闭爪命令之前，log step 66 将该 1730 行前缀存成交付轨迹；金枪鱼罐推翻测试出现在被截去的后段，不能计入本视频。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "tuna_can_in_bin", + "t": null, + "log_step": 53, + "where": "首步前", + "evidence_zh": "观察：评分视频中机器人完成午餐肉罐和番茄汤罐搬运后继续空爪运动，但直到视频 115.333 s 末帧，金枪鱼罐仍在箱外原位置，其入箱步骤没有启动。log step 52 的金枪鱼罐推翻测试后，log step 53 用 acts[:cut] 截去最后一次闭爪及其后的动作，log step 66 保存该 1730 行前缀，评分器也报告 n_actions=1730；因此断点是交付轨迹未开始的金枪鱼罐入箱，而非会话测试中声称掉落的番茄汤罐。没有可定位的金枪鱼罐失败动作时刻，t 留空。" + }, + "unmet": { + "spam_can_in_bin": true, + "tomato_soup_can_in_bin": true, + "tuna_can_in_bin": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 66, + "evidence_zh": "观察：视频 0.0–115.333 s 的正面与左肩视角中，机器人只搬走午餐肉罐和番茄汤罐，金枪鱼罐从未离开原位置，末秒仍清楚可见且没有夹爪接近操作。log step 53、66 记录交付的是剔除金枪鱼罐动作后的前缀；会话中测试过该罐不代表评分轨迹尝试过。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 未形成可靠的金枪鱼罐操作动作序列，因而最终只交付前两罐的前缀。具体会话证据是 log step 19 闭爪后指令抬升，工具读取的金枪鱼罐高度仍为 0.0196 m；log step 24 的倾斜抓取测试多次不收敛；log step 32 曾将侧立罐抬至 0.2367 m，但 log step 52 在前两罐之后重试推翻时罐头掉至桌下（工具读取高度 -0.6804 m），随后 log step 53 截去该段、log step 66 保存前缀。该归因来自会话操作与反馈，不把这些测试当作评分视频里的接触失败；证据不足以区分接触设计、轨迹或反馈控制的具体子类。" + } + ], + "gap_zh": "没有状态日志，两个入箱起点仅能由多视角判断，误差约 0.5 s。log step 66–69 的会话复测及最终自述称番茄汤罐掉出桌面，与评分视频中番茄汤罐留在箱内及评分器 final_reward=0.6667 不符，不能用来标评分轨迹节点或现象。金枪鱼罐的控制根因仅由会话测试和截取交付过程推断；未观察这些测试的逐帧视频，也无接触力或跟踪记录，不能进一步确定控制子类。" + }, + "summary_zh": "评分视频中，机器人约在视频 28.3 s、74.3 s 分别将午餐肉罐、番茄汤罐中心移入箱口范围，两罐释放后均留在箱内，末态完成 2/3。金枪鱼罐始终未动，断点为该入箱步骤启动前的没尝试；会话测试多次未能形成可靠的金枪鱼罐操作，最终交付截去该段的前缀，根因有限归于控制。无状态日志，入箱边界时间约有 0.5 s 误差；会话报告的番茄汤罐掉落与评分视频不符，节点以评分视频为准。", + "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（金枪鱼罐入箱，首步前/没尝试）与视频及评分器 0.6667 一致；根因停在“控制”并注明证据有限，符合规则。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": "2026-10-30T03:18:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--6swgl9w.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad43906c4b068325063d9ef818474a7bf107e5c --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--6swgl9w.json @@ -0,0 +1,241 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-standard--6swgl9w", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 13188, + "sim_steps": 13188, + "physics_steps": 105504, + "steps": 702, + "elapsed_s": 4143.8, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.23, + "peak_processes": 11, + "peak_disk_gb": 0.478 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-food-packing3-cans-i00-standard--6swgl9w/replay.mp4", + "duration_s": 879.267, + "fps": 15.0, + "frames": 13189, + "sha256": "68f455cba26f148c3d45244f05a49721ac21dc885a8e59e89fd9bcf98451dcde" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 64.5, + 83.3 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 午餐肉罐在箱外桌面上；视频 30.0–60.0 s 机器人二指夹爪夹住蓝色罐身，将其抬离原位并向箱口搬运。" + }, + { + "t": 64.5, + "log_step": 19, + "text_zh": "推断：对照视频 62.1–65.8 s 的腕部视角和两个外部视角，午餐肉罐中心约在视频 64.5 s 越过近侧箱壁进入箱口上方；视频 68.0–80.0 s 可见其中心在箱口范围内且仍由夹爪夹持。按本节点沿箱体上轴无高度上限、允许持物的判据记为短暂达成；贴壁进入时刻约有 0.5 s 不确定性。" + }, + { + "t": 83.3, + "log_step": 22, + "text_zh": "观察：视频 81.1–83.2 s 机器人腕部与罐头反复倾斜，视频 83.2–83.5 s 机械臂突然翻转，午餐肉罐飞离夹爪并离开箱口；视频 84.0–150.0 s 的箱内和周围扫视未见其留在箱内，后续直到视频 879.2 s 也未重新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 30.0–80.0 s，Franka 单臂的 Robotiq 二指夹爪对向夹住午餐肉罐罐身，抬升并搬到箱口上方；视频约 83.3 s 搬运中失去罐头。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 171.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红白标签的番茄汤罐位于箱外布丁盒上；视频 165.0–170.0 s 机器人夹爪将其从盒上抬起并移向深灰箱。" + }, + { + "t": 171.0, + "log_step": 38, + "text_zh": "推断：视频 170.3、170.8、171.3、171.7 s 的左右外部视角及腕部视角显示汤罐中心跨过箱壁、移入箱口上方，首次达成约为视频 171.0 s，误差约 0.5 s；此时仍被夹持，本节点允许持物时达成。" + }, + { + "t": 180.0, + "log_step": 39, + "text_zh": "观察：视频 179.0–182.0 s 机器人在箱口内松开汤罐并撤爪，汤罐落在箱内；随后每隔约视频 15 s 检查至视频 870.0 s，及视频 878.0–879.2 s 的密集末帧，汤罐始终留在箱壁围成范围内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 165.0–179.0 s，Robotiq 二指夹爪对向夹住番茄汤罐罐身，将其从布丁盒上搬到箱口内，随后松开。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 195.0, + "log_step": 47, + "text_zh": "观察：视频 190.0–200.0 s 机器人夹爪向桌面的金枪鱼罐倾斜闭合，罐头一边被抬起、翻斜后又落回原处；视频 210.0–810.0 s 多次夹取、推移均在箱外桌面，未见被搬至箱口。" + }, + { + "t": 873.0, + "log_step": 103, + "text_zh": "观察：视频 860.0–872.0 s，机器人用闭合夹爪继续将金枪鱼罐推向桌边；视频 873.0 s 腕部视角看见罐头越过桌边下落，视频 874.0–879.2 s 桌面原位置为空，箱内仍只有汤罐及原有芥末瓶，没有金枪鱼罐。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 190.0–200.0 s 机器人曾以二指夹爪倾斜夹捏金枪鱼罐边缘，罐头翻斜后落回桌面；此后改用闭合夹爪侧向推/扫罐身，逐段推至桌边，并在视频约 873.0 s 将其推落。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "spam_can_in_bin", + "t": 83.3, + "log_step": 19, + "where": "操作中", + "evidence_zh": "观察：机器人先夹住午餐肉罐并搬到箱口上方，视频 81.1–83.2 s 腕部及罐头摇摆倾斜，视频约 83.3 s 突然翻腕，罐头飞离夹爪、离开箱口，后续没有重新入箱。log step 19 的脚本正在闭爪搬运并下移，计划开爪在这两次搬运之后；log step 22 的服务返回记录显示计划开爪前夹爪开度已经降至 0.0018 m。推断：这是搬运中丢失午餐肉罐，属于最早未修复的步骤失败；其后汤罐入箱和金枪鱼罐推落不修复此步。" + }, + "unmet": { + "spam_can_in_bin": false, + "tomato_soup_can_in_bin": true, + "tuna_can_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 83.3, + "log_step": 22, + "evidence_zh": "观察：视频 60.0–80.0 s 午餐肉罐随夹爪一起搬运；视频 83.2 s 罐头仍紧邻指间，视频 83.3–83.5 s 在机械臂突动后飞离，视频 84.0 s 夹爪为空、箱内无午餐肉罐。log step 19 的脚本在失手所在的搬运段持续命令闭爪，log step 22 返回显示执行开爪指令前开度已从约 0.0569 m 变为 0.0018 m。推断：已建立的抓持在计划释放前丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 83.3, + "log_step": 22, + "evidence_zh": "观察：log step 19 的控制脚本以闭爪姿态从目标 [0.65,0.10,0.32] 继续驶向 [0.78,0.36,0.32]，随后下移；log step 22 的机器人服务返回显示后两段末端实际只到约 [0.692,0.320,0.319]、[0.699,0.323,0.299]，并出现 not converged，而夹爪在计划松开前已闭空。视频 78.0–83.5 s 可见腕部摇摆、突然大幅翻转并甩失罐头；同一运行的 log step 38–39 及视频 171.0–182.0 s 显示机器人可将汤罐搬到较近的箱口区域并释放。推断：本次持罐搬运的运动控制未稳定跟踪目标，导致抓持丢失；证据不足以进一步区分逆解路径、反馈跟踪或夹持负载的贡献。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无逐帧状态日志、关节轨迹或接触力记录，箱壁附近的凸包质心越界时刻只能由多视角估计（约 0.5 s 误差）；午餐肉罐飞出相机后最终落点不可见。能确认搬运控制失稳伴随丢失，但不能可靠细分控制根因，也没有证据将其归咎于仿真异常。" + }, + "summary_zh": "午餐肉罐在视频约 64.5–83.3 s 短暂进入箱口上方，随后搬运中失去抓持并飞出，构成最早未修复断点；番茄汤罐自视频约 171.0 s 入箱并保留到末态，最终完成 1/3。金枪鱼罐在箱外反复夹取及推移，最终于视频约 873.0 s 被推落桌边；日志中的搬运未收敛反馈和视频中的翻腕支持控制层归因，但缺少状态及力记录，不能确定更细机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "午餐肉罐在视频约 64.5–83.3 s 搬运到箱口近壁处、随后翻腕丢罐（log step 22 的开度 0.0018 m 显示闭空），断点、没保持住与控制归因均有帧和日志支持；汤罐入箱至末帧保持、金枪鱼罐从未入箱，final=1/3 与 outcome 一致。午餐肉罐入箱起点贴壁，已标为推断并给出不确定度。", + "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": "2026-10-30T03:11:45Z", + "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/robolab-food-packing3-cans-i00-standard--6swgl9w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-standard--6swgl9w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "415146e022c62f75a403c3fa1a8fb91af25621a024c3adbfe162a3ad252ca462", + "video_sha256": "68f455cba26f148c3d45244f05a49721ac21dc885a8e59e89fd9bcf98451dcde", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--eaeueqg.json b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--eaeueqg.json new file mode 100644 index 0000000000000000000000000000000000000000..8e094f013205fc8fad61a6357789e2e2763c3a61 --- /dev/null +++ b/phase2/robolab/food_packing3_cans/trajectories/robolab-food-packing3-cans-i00-standard--eaeueqg.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-food-packing3-cans-i00-standard--eaeueqg", + "taskKey": "robolab/food_packing3_cans", + "dag_sha256": "23046873a0696fd1664bbfc796f3c4074b25c67778e5348490de6188c5bf6487", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15982, + "sim_steps": 15982, + "physics_steps": 127856, + "steps": 1682, + "elapsed_s": 5085.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.757, + "peak_processes": 6, + "peak_disk_gb": 0.297, + "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/robolab-food-packing3-cans-i00-standard--eaeueqg/replay.mp4", + "duration_s": 532.8, + "fps": 15.0, + "frames": 7992, + "sha256": "de6aa5fdcb8914449c5f01ece997e8370d2f1ee695c1d2c5984371680f537c8a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色长方形罐盖、蓝色罐身的午餐肉罐直立在深灰色箱外桌面。" + }, + { + "t": 68.6, + "log_step": 59, + "text_zh": "观察：视频 66.5 s，机器人二指夹爪在直立午餐肉罐的罐盖/上缘附近合拢；视频 67.5–67.8 s，夹爪上抬但罐仍直立留在原桌面位置，未随夹爪抬起。视频 68.6 s 罐体开始翻倒，视频 68.8–69.0 s 已平躺在箱外桌面，随后机器人空爪移向箱子。log step 59 的脚本安排了该罐的抓取与搬入箱内动作。" + }, + { + "t": 253.0, + "log_step": null, + "text_zh": "观察：视频 251.0–254.0 s 的又一次抓取中，午餐肉罐在夹爪下转动，机器人抬爪后该罐仍留在箱外桌面；后续重试只在该桌面区域推移、翻转罐体，未见其中心进入箱内。" + }, + { + "t": 532.6, + "log_step": null, + "text_zh": "观察：视频 531.8–532.6 s，午餐肉罐仍在箱左侧桌面、夹爪下方；番茄汤罐和金枪鱼罐在箱内。该罐入箱关系最终不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 65.3–66.8 s，Franka 单臂的 Robotiq 二指夹爪围住午餐肉罐上部并合拢，但视频 67.5–67.8 s 抬爪时罐仍直立留在桌面；视频 68.6–68.8 s 罐体才翻倒，未完成搬运。后续多次合爪重抓，也伴有夹指对罐体的推移和翻转。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 11.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红白高圆柱番茄汤罐直立在箱外桌面。" + }, + { + "t": 11.0, + "log_step": 52, + "text_zh": "推断：视频 4.0–8.0 s，机器人夹住并抬起番茄汤罐，原位已空；视频 9.0–12.0 s 将其横移到箱口上方。结合正面、左肩及腕部视角，中心进入箱壁上方延伸范围约在视频 11.0 s，目测边界时刻约有 0.5–1.0 s 误差；按 DAG 无高度上限且持物也算入箱，不能等到松手才计入。log step 52 记录该搬运动作。" + }, + { + "t": 58.0, + "log_step": null, + "text_zh": "观察：视频 57.0–60.0 s，机器人在箱内松爪，红白番茄汤罐落入箱底并横躺，随后机器人离开；视频 138.0 s 至视频 532.6 s 的已检帧中，该罐一直位于箱内，末态可直接看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–8.0 s，Robotiq 二指夹爪从两侧夹住番茄汤罐罐身并将其抬离桌面，携至箱口上方，视频约 57.0–58.0 s 张爪释放。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 133.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，蓝色侧壁、银色圆盖的矮圆金枪鱼罐位于箱外桌面。" + }, + { + "t": 119.0, + "log_step": 114, + "text_zh": "观察：视频 114.0–120.0 s，机器人第一次夹取金枪鱼罐后，该罐翻成侧立姿态但仍在箱外桌面；不将这次抬爪计为入箱。" + }, + { + "t": 133.0, + "log_step": 122, + "text_zh": "推断：视频 124.0–130.0 s，机器人从两侧夹住侧立的金枪鱼罐并抬起，原桌面位置已空；视频 132.0–134.0 s 搬到箱口上方，约视频 133.0 s 罐体中心进入箱壁上方延伸范围，视觉边界约有 0.5 s 误差。log step 122 记录第二次抓取与搬运动作；按 DAG 持物也算入箱。" + }, + { + "t": 138.0, + "log_step": null, + "text_zh": "观察：视频 136.3–138.0 s，机器人张爪，蓝色金枪鱼罐落在箱内；其后至视频 532.6 s 的已检帧中均在箱内，末态与红白番茄汤罐同时可见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Robotiq 二指夹爪先在视频 114.0–120.0 s 夹取并翻动金枪鱼罐，随后在视频 124.0–130.0 s 夹住侧立罐的两面，将其抬起搬入箱内，并于视频 136.3–138.0 s 松爪。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "spam_can_in_bin", + "t": 68.6, + "log_step": 59, + "where": "操作中", + "evidence_zh": "观察：视频 66.5 s，机器人第一次夹取午餐肉罐时夹爪在罐盖/上缘附近合拢，视频 67.5–67.8 s 抬爪却未带起罐；视频 68.6–68.8 s 罐体随后翻倒在箱外桌面，机器人空爪移向箱子。虽然后来完成金枪鱼罐入箱并反复重抓午餐肉罐，到视频 532.6 s 午餐肉罐仍在桌面。log step 59 的脚本目标是将该罐抓起后送入箱内；这是最早未被完成修复的步骤。" + }, + "unmet": { + "spam_can_in_bin": false, + "tomato_soup_can_in_bin": true, + "tuna_can_in_bin": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 68.6, + "log_step": 59, + "evidence_zh": "观察：视频 66.5–66.8 s，机器人夹指合在直立午餐肉罐的罐盖/上缘附近；视频 67.5–67.8 s，夹爪上抬而罐仍直立留在原桌面位置，未建立能将罐带起的抓取。视频 68.6–68.8 s 罐才翻倒，视频 69.0 s 平躺在箱外桌面；不能把后来的翻倒前移为合爪时的碰撞，也未见罐被稳定提起后再滑落。log step 59 的 p_grasp 固定为 [0.621,-0.022,0.038]，与这一抓取尝试相对应。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：视频 66.5–66.8 s，夹指的夹持位置在午餐肉罐盖/上缘附近，视频 67.5–67.8 s 抬爪时罐未离开桌面，支持所选抓取高度/接触几何未形成有效承载夹持。log step 59 将抓取目标固定为 [0.621,-0.022,0.038]，随后直接执行合爪与抬升；log step 58 对这些目标的 IK 验证均成功，位置残差为 0.0–0.5 mm，因此没有逆解失败的证据，但 IK 残差不能证明实际运动全程跟踪无误。按 docs/03_trajectory.md Step 3.3 的判别顺序，优先归为抓取和接触设计；未核验该罐其他抓取几何的有效性，替代方案可行性记为未知。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志，无法精确复算罐头凸包质心跨越箱体边界的瞬间，两个入箱起点为多视角目测近似。首次抓取的可见夹持位置与抬爪未带起罐支持抓取和接触设计根因，但缺少夹指接触对、接触力与连续跟踪误差，无法确定具体接触力学或排除跟踪因素；未核验其他抓取几何的可行性。log step 300 的 0.0587→0.0018 m 开度属于另一次 z=0.020 的抓取输出，不作为首次抓取曾夹稳后滑脱的证据。" + }, + "summary_zh": "番茄汤罐约于视频 11.0 s、金枪鱼罐约于视频 133.0 s 进入箱体上方开放范围，随后均释放在箱内，最终完成 2/3 个节点。午餐肉罐首次抓取时夹指合在罐盖/上缘附近，视频 67.5–67.8 s 抬爪未带起罐，视频 68.6–68.8 s 罐才翻倒；后续重抓始终未能搬入箱内，断点为午餐肉罐入箱，现象为位姿不准，根因推断为抓取和接触设计。无状态与力接触日志，入箱边界时刻只能目测，且具体接触力学和替代抓法未核验，因此置信度由 8 降为 7。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与时间（番茄汤罐约 11 s、金枪鱼罐约 133 s 入箱，午餐肉罐未入箱）与断点位置基本正确；问题在失败现象：证据称夹指把午餐肉罐‘带偏倾斜’，但视频 66.5–67.8 s 罐体始终直立在原位，夹爪是在罐顶部合爪后抬起、未带走罐，并无阻挡/碰撞，罐体是之后才倒下；‘被挡/碰撞’不成立，根因也把握得过泛。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "午餐肉罐未入箱（视频 532 s 仍在箱外桌面）、番茄汤罐与金枪鱼罐末态在箱内，final=2/3 成立；断点为午餐肉罐首次抓取、现象位姿不准、根因抓取和接触设计均有帧支持。番茄汤罐 11 s 的入箱起点依赖高度无上限的多视角目测，帧上略有不确定（罐在 11–30 s 缓慢沿箱后缘上方移动），但标注已声明误差，不要求改动。", + "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": "2026-10-30T03:25:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + 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+ "elapsed_s": 2479.0, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-food-packing3-cans-i00-standard--gumlrmu/replay.mp4", + "duration_s": 221.267, + "fps": 15.0, + "frames": 3319, + "sha256": "9f77ddc063b8eedfe780cbb86a97912a303dc6851a85789baf3945aa4c15dd76" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 11.0, + 13.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色长方形罐盖、蓝色罐身的午餐肉罐立在箱外桌面；三罐均未入箱。" + }, + { + "t": 11.3, + "log_step": 23, + "text_zh": "观察：视频 10.4–11.8 s，机器人二指夹爪夹着午餐肉罐从原位移向箱口；视频 11.3 s，两外部视角均显示罐身中心已在箱壁围成的口部范围上方。推断：按 DAG 沿箱体上轴无限延伸且持物也计入的判据，约视频 11.0 s 起达到空间关系。" + }, + { + "t": 13.2, + "log_step": 23, + "text_zh": "观察：视频 12.8–13.4 s，夹爪与腕部突然大幅翻转，午餐肉罐随之向箱外偏出并脱离，后续夹爪空着；视频 14.0–22.0 s，箱内仅见黄色芥末瓶。推断：约视频 13.2 s 失去入箱关系。" + }, + { + "t": 221.1, + "log_step": 163, + "text_zh": "观察：后续视频未见机器人再次夹起或搬回午餐肉罐；视频 218.7–219.2 s 箱体翻转飞离桌面，视频 220.3–221.1 s 末段仍无三罐入箱的状态。推断：此前失去的午餐肉罐入箱关系未恢复，末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人 Robotiq 二指夹爪从两侧夹住午餐肉罐，确实将罐头抬离原位并搬到箱口上方；随后搬运中脱离。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [ + [ + 66.0, + 218.8 + ] + ], + "final": false, + "evidence": [ + { + "t": 27.5, + "log_step": 28, + "text_zh": "观察：视频 25.5–31.5 s，机器人首次抓取红白标签番茄汤罐后罐头倾倒，碰动饼干盒等物体，仍留在箱外；视频 35.0–60.0 s 又有多次重抓，未在这些阶段进入箱口。" + }, + { + "t": 66.0, + "log_step": 62, + "text_zh": "观察：视频 60.0–66.8 s，机器人夹爪夹着番茄汤罐离开桌面原位并移向箱口；视频 66.0 s 前后罐头中心越过箱的近侧边界，随后视频 73.0 s 已落在箱内芥末瓶旁。推断：按持物也计入的空间判据，约视频 66.0 s 达到节点，边界时刻约有半秒误差。" + }, + { + "t": 188.7, + "log_step": 146, + "text_zh": "观察：视频 187.0–189.0 s，机器人提拉箱沿，箱体侧倒，番茄汤罐滚到箱口外桌面；视频 189.0–217.7 s 罐头和侧倒箱体相对位置基本不变。推断：罐头中心仍位于侧倒箱口沿其自身开口轴向外的延伸范围，按 DAG 无上界判据保留该关系，不能仅因罐头越过实体箱沿而截断；此段为视觉几何估计，无逐帧凸包计算。" + }, + { + "t": 218.8, + "log_step": 152, + "text_zh": "观察：视频 218.7–219.2 s，机器人再次提拉后箱体翻转并飞离桌面，番茄汤罐仍在桌上；视频 220.3–221.1 s，汤罐仍横躺桌面，箱体已离开桌面。推断：约视频 218.8 s，箱体转动和移开使汤罐脱离其开口轴延伸区域，末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪实际夹持番茄汤罐并搬入箱口；此前多次夹取未稳住罐头，使其在桌上倾倒、滑移。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.5, + "log_step": 35, + "text_zh": "观察：视频 0.0 s，蓝色侧壁、银色圆盖的金枪鱼罐在箱外饼干盒旁；视频 26.5–31.5 s，汤罐倾倒和周边盒子移动时，该矮圆罐被带动，随后从桌沿跌出。全程没有夹爪夹起金枪鱼罐并送入箱口的动作。" + }, + { + "t": 140.8, + "log_step": 106, + "text_zh": "观察：视频 140.8 s，腕部相机在桌旁地面显示蓝色矮罐及黄色糖盒；log step 106 记录 agent 对该地面罐图像点的反投影测量，log step 107–108 是其针对该位置的逆解检查，并非成功抓取。" + }, + { + "t": 188.7, + "log_step": 129, + "text_zh": "观察：视频 90.0–138.0 s，机器人推移并尝试夹起饼干盒寻找矮罐；视频 164.0–189.0 s 及视频 201.0–219.2 s 又夹取、提拉箱沿，箱体先侧倒后飞离桌面，未接触或装入地面金枪鱼罐。log step 129 明确将提箱作为回收该罐的准备动作。" + }, + { + "t": 221.1, + "log_step": 163, + "text_zh": "观察：视频 220.3–221.1 s 机器人夹爪为空，汤罐仍在桌上，箱体已飞离桌面；此前未见金枪鱼罐从地面返回或进入箱体。推断：金枪鱼罐入箱从未达到，末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "为寻找金枪鱼罐，机器人以夹爪推移红色饼干盒，清查其下方；未直接抓住目标罐。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "随后为回收地面金枪鱼罐，机器人二指夹爪短暂夹住深灰箱沿并提拉箱体；该辅助箱体未与金枪鱼罐建立接触，也未将其装入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "spam_can_in_bin", + "t": 13.2, + "log_step": 23, + "where": "操作中", + "evidence_zh": "观察：视频 11.3–12.8 s，机器人确实夹持午餐肉罐到箱口上方；视频 13.0–13.4 s 腕部突然翻转，罐头移出箱口并脱离，机器人随后空爪继续动作。推断：这是最早达到后失去、且直到视频 221.1 s 都未恢复的步骤；后来汤罐重抓成功和金枪鱼罐回收失败均不修复此步。" + }, + "unmet": { + "spam_can_in_bin": false, + "tomato_soup_can_in_bin": false, + "tuna_can_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 13.2, + "log_step": 23, + "evidence_zh": "观察：视频 10.4–12.8 s 午餐肉罐随二指夹爪一起运动；视频 13.0–13.4 s 夹爪翻转，罐头向箱外偏出并脱离，视频 14.0 s 后夹爪为空。log step 23 的搬运及下降两行均命令 gripper=1，开爪安排在下降之后。推断：实际持物搬运未保持住罐头，并非从未抓住或在目标处按计划松手后失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 13.2, + "log_step": 23, + "source_zh": "日志", + "evidence_zh": "观察：log step 23 的 spam_place 指令从搬运到下降保持同一末端四元数 [0,-0.7071068,0.7071068,0]，并保持闭爪；视频 12.8–13.4 s 实际腕部却突然大幅翻转，同时丢失罐头。推断：末端运动与持物接触未被稳定控制，导致该次入箱关系丢失；证据支持控制层，尚不足区分姿态跟踪、逆解路径或夹持承载中的具体机制。" + } + ], + "gap_zh": "没有状态日志，也没有逐控制步物体位姿、夹指接触或接触力记录；无法确定午餐肉罐脱离的具体力学机制及最终落点。三个节点的边界均由视频估计，尤其视频 188.5–218.8 s 侧倒箱体的开口轴延伸关系依赖多视角几何推断，不能精确核验凸包边界；本标注保留汤罐关系至箱体最终翻转移开。日志中的深度反投影和逆解结果属于 agent 脚本测量，不当作状态日志或成功判据。" + }, + "summary_zh": "本次评分轨迹中，午餐肉罐和番茄汤罐先后达到过入箱空间关系，金枪鱼罐从未入箱，峰值为同时 1/3，结束为 0/3。最早未修复的断点是视频约 13.2 s 午餐肉罐搬运中随腕部突转而脱离；后续机器人为回收地面金枪鱼罐提拉箱体，最终又使箱体飞离桌面。无状态日志，控制根因仅定位到控制层，侧倒箱体沿自身开口轴无限延伸的汤罐关系及其失去时刻为视觉推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "午餐肉罐在视频约 11–13.2 s 被夹持到箱口上方、随后腕部突转时脱落箱外，断点与现象成立；汤罐在视频 66 s 前后入箱、金枪鱼罐从未入箱均与帧一致。侧倒箱体后汤罐关系的保留是几何推断，标注中已明说，未发现可证伪的证据。", + "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": "2026-10-30T03:23:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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"resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-food-packing3-cans-i00-standard--ken8fej/replay.mp4", + "duration_s": 593.533, + "fps": 15.0, + "frames": 8903, + "sha256": "d30221b08a2ccebc3beb28d52e2ff67389a3f584465795f0eaeb5baa5b6f22d9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "spam_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，绿色长方形罐盖、蓝色罐身的午餐肉罐直立在箱外桌面。" + }, + { + "t": 410.0, + "log_step": null, + "text_zh": "观察：视频 398.0–412.0 s，机器人二指夹爪夹住午餐肉罐并将其抬离原位置；视频 413.5–414.3 s，罐头接近箱壁，腕部视角可见罐身中心仍偏在木桌一侧，左肩视角也未显示罐头进入箱口内部。视频 414.5–414.9 s，罐头脱手向箱外桌面方向飞出，随后离开桌面视野。" + }, + { + "t": 593.2, + "log_step": 160, + "text_zh": "观察：视频 416.0–593.2 s 的箱内视图始终仅见原有黄色芥末瓶，未见午餐肉罐；log step 160 中 agent 曾猜测它落入箱内，但视频 414.5–414.9 s 的外飞方向不支持该猜测。推断：按多视角所见未确认罐头中心跨入箱壁围成范围，末态在箱外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 398.0–414.3 s，Franka 单臂的 Robotiq 二指夹爪夹住午餐肉罐两侧，抬升并向箱沿搬运，之后脱手。" + } + ] + }, + "tomato_soup_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红白标签的番茄汤罐直立在箱外的布丁盒上；视频 5.0–75.0 s，机器人夹爪在罐头周围闭合停留，视频 76.0 s 抬开时罐头仍在原处。" + }, + { + "t": 131.5, + "log_step": 89, + "text_zh": "观察：视频 126.0–131.3 s，夹爪夹住番茄汤罐上端并略微提起；视频 131.7–133.0 s，罐头脱离夹爪，落在布丁盒旁并横倒于桌面。log step 89 的机器人反馈记录夹爪开度由闭合后的 0.0678 m 变为抬升后的 0.0195 m，与失去罐头相符。" + }, + { + "t": 156.0, + "log_step": 116, + "text_zh": "观察：视频 150.0–156.0 s，机器人再次夹取横躺的番茄汤罐，罐头随后脱手滚向箱外桌边；视频 160.0–470.0 s，罐头一直横躺在该处。视频 480.0–484.0 s，夹爪又碰动该罐，罐头随后离开桌面视野；视频 593.2 s 箱内仍只有芥末瓶。推断：后续重试未修复入箱步骤，番茄汤罐始终没有进入目标箱。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 126.0–131.3 s，Robotiq 两指夹住番茄汤罐上端并提起；视频 150.0–154.0 s 又夹住横躺罐身尝试抬升，两次均失去夹持。" + } + ] + }, + "tuna_can_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，蓝边银盖的矮圆金枪鱼罐位于 Cheez-It 盒旁的箱外桌面；视频 140.0、390.0、460.0 s 仍可见它留在该区域。" + }, + { + "t": 490.0, + "log_step": null, + "text_zh": "观察：视频 488.0–493.7 s 的腕部视角显示机器人夹指靠近银色罐盖，视频 490.0 s 夹指顶在罐盖靠近机器人的边缘，罐头略有位移但没有随夹爪抬起；视频 500.0–585.0 s 罐头仍在倒下的 Cheez-It 盒旁。" + }, + { + "t": 593.2, + "log_step": 192, + "text_zh": "观察：视频 590.0–593.2 s，机器人继续在金枪鱼罐旁操作，末秒银盖罐仍在箱外木桌上，夹爪抬起后罐头留在桌面，箱内只有芥末瓶。log step 192 是 agent 的推罐再舀入脚本，未返回完成结果；其计划不构成已入箱证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 490.0 s，Robotiq 夹指顶住金枪鱼罐盖边缘并拨动罐头；视频 590.0–593.2 s 仍在罐旁尝试操作。未观察到两指稳定夹持并搬起该罐。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "tomato_soup_can_in_bin", + "t": 131.5, + "log_step": 89, + "where": "操作中", + "evidence_zh": "观察：视频 131.3–132.0 s，机器人提起番茄汤罐后失去夹持，罐头落回箱外桌面；视频 150.0–156.0 s 的重抓再次失去罐头，之后长时间留在桌边，视频 480.0–484.0 s 的再接触也未将它送入箱内。推断：番茄汤罐入箱是最先尝试且始终未完成的节点；随后改做午餐肉罐和金枪鱼罐没有修复它。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 131.5, + "log_step": 89, + "evidence_zh": "观察：视频 126.0–131.3 s，机器人夹爪夹住番茄汤罐上端并使罐头离开原承托位置；视频 131.7 s 夹爪已空，罐头向下翻落，视频 132.0–133.0 s 横倒在箱外桌面。视频 154.0–156.0 s 后续提罐时再次脱手并滚到桌边。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "evidence_zh": "观察：视频 126.0–131.3 s，机器人两指仅夹住番茄汤罐靠近上沿的一小段，抬升后罐头滑出；log step 88 的脚本在 TCP 高度约 0.118 m 闭合后直接上提，log step 89 反馈抬升过程中开度从 0.0678 m 缩小至约 0.0195 m。推断：该次上沿浅夹没有形成足以承载罐头的稳定接触。可行替代已在成功参考视频 5.0–15.0 s 得到验证：同一机器人夹住番茄汤罐后搬到箱内；参考视频只用于确认存在可行抓取，不作为本次进展证据。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，无法精确测量罐头凸包质心及双指接触力。午餐肉罐在视频 413.5–414.3 s 紧贴箱沿，按腕部及左肩视角判其中心仍在外侧，贴边瞬间的几何边界存在视觉精度限制；其随后外飞及末态不在箱内可见。番茄汤罐的浅夹归因由画面和夹爪反馈共同推断，未获得接触点或力传感记录。", + "unmet": { + "spam_can_in_bin": false, + "tomato_soup_can_in_bin": false, + "tuna_can_in_bin": false + } + }, + "summary_zh": "三个入箱节点末态均未达成，金枪鱼罐在视频 593.2 s 仍留在箱外桌面，箱内仅见原有芥末瓶。首个未修复断点是番茄汤罐入箱：视频约 131.5 s 的浅夹提罐滑脱，后续重试也未将其送入箱内；午餐肉罐则在箱沿附近脱手外飞。无状态日志，午餐肉罐贴沿瞬间的凸包边界与抓取接触力无法精确核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个入箱节点均未达成与视频一致（箱内始终只有芥末瓶）；断点为最先尝试的番茄汤罐、浅夹滑脱，现象与根因与画面相符。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": "2026-10-30T03:21:37Z", + "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/robolab-food-packing3-cans-i00-standard--ken8fej/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-food-packing3-cans-i00-standard--ken8fej/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83696f61e92acd200f83d3caf1960f847c41a5e594656f08f4a063ccf362e5f2", + "video_sha256": "d30221b08a2ccebc3beb28d52e2ff67389a3f584465795f0eaeb5baa5b6f22d9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0a1497af9b68628568ed6ed518a906bd9d7d88 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 10, + "sim_steps": 40, + "final_reward": 0.0, + "replay_wall_s": 433.0, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 22, + "agent_resets": 2, + "agent_sim_steps": 4359, + "agent_records": 19, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.731, + "peak_memory_gb": 16.542, + "peak_processes": 16, + "peak_disk_gb": 0.846, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut/replay.mp4", + "duration_s": 2.733, + "fps": 15.0, + "frames": 41, + "sha256": "2bb444b7e834ff063217cb96845cd77fc72baa373a1c379d4111f639355a09e0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 的外部斜视显示白杯和蓝白纹杯位于网架左侧桌面，红杯位于盘内；三杯均未接触网架。" + }, + { + "t": 2.667, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.00–2.67 s（全部41帧，含末尾一秒），三杯始终留在原位，机器人夹爪停在杯子上方，没有取杯、推杯或将杯移到网架的动作，第1杯上架从未成立。" + }, + { + "t": null, + "log_step": 202, + "text_zh": "观察：log step 202 检查最终交付文件，actions 形状为 (10, 8)，meta 的 steps 为10；评分器字段 n_actions=10、deterministic=1，与本次只含开爪动作的短视频一致。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.667, + "log_step": null, + "text_zh": "观察：视频 0.00–2.67 s 的连续帧中，白杯、红杯、蓝白纹杯均在网架外原位，未出现任何杯子上架，至少两杯接触网架并脱离夹爪的条件从未成立；机器人也未开始第2杯的搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_1", + "t": 0.0, + "log_step": 197, + "where": "首步前", + "evidence_zh": "观察：视频 0.00–2.67 s 内机器人未向任一杯子接近或搬运，三杯没有上架；log step 197 报告生成器首次接近位姿 IK failed，随后保存 (10, 8) 动作。log step 204 中 agent 也明确自述交付文件只开爪；这里以视频 0.00 s 为首步未启动的导航锚点，不把日志时间换算为视频时间。" + }, + "unmet": { + "mugs_on_shelf_1": false, + "mugs_on_shelf_2": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 197, + "evidence_zh": "观察：视频 0.00–2.67 s 中机器人始终停在初始工作位置，仅有开爪，没有朝杯子执行取放动作；三杯仍分处网架外的桌面和盘上。log step 202 确认所交付文件仅含10个动作，log step 204 中 agent 自述这些动作只打开夹爪。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 197, + "evidence_zh": "推断：log step 194 的最终生成脚本先执行10步 open_gripper，再为红杯的首次接近位姿求逆解；go 函数在所有种子求解失败时抛出异常，外层捕获后仍保存已录制动作。log step 197 实际报告该位姿 [0.493, -0.331, 0.22] 的 IK failed 并保存 (10, 8)，log step 202 确认最终文件仍是10步；结合视频 0.00–2.67 s 未开始取放，说明生成控制动作失败使受评轨迹停留在开爪阶段。", + "source_zh": "日志", + "note_zh": "缺少足以验证该接触方案和接近姿态可行性的证据，无法进一步区分姿态选择与逆解器能力问题，保留在控制层级。" + } + ], + "gap_zh": "输入无状态日志，但三杯与网架的明显分离及全程未搬运在视频中可直接判断。log step 197 只给出逆解失败和残差，缺少对最终侧向接近姿态、接触方案可行性的独立验证，因此根因不细分；此前会话中的推杯、抓杯试验不属于本次交付轨迹，不据此添加接触或运动现象。" + }, + "summary_zh": "受评视频 0.00–2.67 s 中三杯均留在网架外原位，两个上架节点始终未达成，最终进度为0/2。断点为第1杯上架的首步前，现象为没尝试；log step 194、197、202 显示最终生成器在首次接近位姿求逆解失败后仅保存10步开爪动作。没有状态日志，且未独立验证最终接近与接触方案的可行性，根因保留在控制层级。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频 0.00–2.67 s 三杯始终在原位、机器人只有开爪，两个节点未达成，0/2；断点首步前、没尝试、根因控制（log step 197 逆解失败后仅保存10步开爪，step 202 确认）均有证据支持，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": "2026-10-30T03:13:49Z", + "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/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--ehlcaut/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "87d611dd5af2f0a967a1ab1dcafb405b38c6f19d44e7e3fa2d021758330d71b5", + "video_sha256": "2bb444b7e834ff063217cb96845cd77fc72baa373a1c379d4111f639355a09e0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno.json new file mode 100644 index 0000000000000000000000000000000000000000..c149e6edb4178f2dd4bbf2f4f79e987d1672596c --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 616, + "sim_steps": 616, + "final_reward": 1.0, + "replay_wall_s": 592.7, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 4, + "agent_sim_steps": 5534, + "agent_records": 3, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.857, + "peak_memory_gb": 7.637, + "peak_processes": 13, + "peak_disk_gb": 0.233, + "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/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno/replay.mp4", + "duration_s": 41.133, + "fps": 15.0, + "frames": 617, + "sha256": "a57039c6693fad633fe27e66213780e7b7f5147948a10b6e404c8b29878fbeea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [ + [ + 17.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三只杯子均在桌面或盘子上，金属网架上没有杯子，两个计数节点初始均不成立。" + }, + { + "t": 17.1, + "log_step": null, + "text_zh": "观察：视频 16.8 s 机器人夹爪仍夹住白杯杯柄；视频 16.93–17.13 s 两指张开，白杯离开夹爪、转动后靠在网架上层网线处。视频 17.33–20.67 s 白杯留在该处，夹爪随后撤走；第1杯上架取视频约 17.1 s，误差约 0.2 s。" + }, + { + "t": 41.067, + "log_step": null, + "text_zh": "观察：视频 21–41.07 s 机器人转去搬红杯，白杯始终留在网架上，蓝白纹杯仍在桌面，未见白杯被再次抓起或移出网架。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.67–8.0 s 腕部画面显示单臂二指夹爪夹住白杯杯柄；随后机器人将白杯从原桌面位置提起、搬到网架，视频约 17.1 s 张指释放。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [ + [ + 41.067, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.6, + "log_step": null, + "text_zh": "观察：视频 25.6–28.8 s 机器人夹爪在盘子上的红杯杯柄处闭合；视频 29.6 s 红杯已随夹爪抬离盘子，原盘面不再有杯子。随后机器人把红杯搬向白杯所在网架，蓝白纹杯留在桌上。" + }, + { + "t": 41.067, + "log_step": null, + "text_zh": "观察：视频 40.8–40.93 s 夹爪仍夹着架面附近的红杯；视频 41.0–41.067 s 两指张开，红杯转动并靠向上层网线，白杯仍在架上。视频最后一帧为 41.067 s，没有更长的释放后画面。" + }, + { + "t": 41.067, + "log_step": 380, + "text_zh": "推断：视频 41.067 s 的释放画面结合评分器 reward.success=1、all_success=1、deterministic=1，支持终态恰好两杯满足空间范围、网架接触及两指脱离的合取判据，因此第2杯上架取视频约 41.07 s。log step 380 的交付文件回放结果亦为 success=true、progress=1.0、sim_steps=616；该日志仅佐证交付与验收，未把 agent 工作时间换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 25.6–29.6 s 单臂二指夹爪夹住红杯杯柄并将杯子提离盘子，随后保持抓握搬到网架；视频 41.0–41.067 s 张指释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人依次抓住白杯、红杯的杯柄并搬上金属网架，第1杯上架约在视频 17.1 s，第2杯约在视频 41.07 s，最终完成 2/2 节点，蓝白纹杯留在桌面。评分器记录 success=1、all_success=1、deterministic=1，与视频末尾两杯上架的过程一致，没有失败断点。缺少状态日志，无法逐帧精确复核开放凸包边界和接触对；红杯松手后视频立即结束，其终态合取条件结合评分器成功结果判定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，两个计数节点均达成，无失败断点；第1杯约17.1 s、第2杯约41.07 s（视频时钟）与帧和评分器 success=1 相符，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": "2026-10-30T03:02:10Z", + "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/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--jgcmfno/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6690c4978124aec2166f887f74f44d18e64ebd03c2d316363bf3e5c89b3290cd", + "video_sha256": "a57039c6693fad633fe27e66213780e7b7f5147948a10b6e404c8b29878fbeea", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcd986a7284ab27138034687d26daa3ad51237d --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 3631, + "sim_steps": 3631, + "final_reward": 0.0, + "replay_wall_s": 1958.2, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 28, + "agent_sim_steps": 0, + "agent_records": 8, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.948, + "peak_memory_gb": 7.457, + "peak_processes": 12, + "peak_disk_gb": 1.012, + "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/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy/replay.mp4", + "duration_s": 242.133, + "fps": 15.0, + "frames": 3632, + "sha256": "35d9552b7891a08875fb6699e759e0415c8e2163f350047dd3ace47c23ffb19e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯、红杯和蓝白纹杯均在桌面、网架外，架上没有杯子。" + }, + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 白杯已离开原位并由机器人夹爪携带；视频 20.0–26.0 s 的腕部画面及视频 27.0–34.0 s 的外部斜视中，白杯仍处于两指之间并随夹爪升降，没有成为脱离夹爪、接触网架的杯子。" + }, + { + "t": 45.0, + "log_step": null, + "text_zh": "观察：视频 35.0–44.0 s，机器人仍携白杯下降至桌上红杯处，带动红杯和盘子；视频 45.0–47.0 s 夹爪撤开，白杯与红杯叠靠在桌面，均未接触网架。视频 67.0 s 两杯已越过桌沿，之后没有被送回架上。" + }, + { + "t": 242.067, + "log_step": null, + "text_zh": "观察：视频 124.0–146.0 s 机器人手臂带动网架及桌面，视频 148.0 s 桌面和架子已翻离工作区；视频 241.13–242.067 s 末段机器人空夹爪运动，没有杯子上架的结果。" + }, + { + "t": null, + "log_step": 96, + "text_zh": "观察：log step 96 报告保存 3631 个动作，称第一杯 placed、progress=0.5；评分器字段 n_actions=3631、deterministic=1、success=0。推断：此动作数对应交付文件，但会话所报第一杯放置结果与视频持续持白杯的过程不符，节点按视频判定，不采用该进度读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人 Robotiq 两指夹住白杯杯口附近并将它抬离桌面；视频 12.0–35.0 s 白杯持续夹在两指之间随末端搬运，随后被带到红杯处。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频 37.0–44.0 s 机器人末端下降到红杯处时，夹爪仍带着白杯，白杯压靠红杯，红杯和盘子被带动；视频 45.0–67.0 s 两杯在桌面叠靠、倾倒并移出桌沿，没有第二只杯子被搬到网架。" + }, + { + "t": 146.0, + "log_step": null, + "text_zh": "观察：视频 120.0–144.0 s 蓝白纹杯一直留在原桌面，架上无杯；视频 146.0–148.0 s 桌面与网架翻离工作区，视频 242.067 s 仍未出现两杯接触网架并脱离夹爪的状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 39.0–44.0 s 机器人末端带着白杯碰动红杯；视频 49.0–59.0 s 张开的夹爪继续碰拨叠靠的白杯和红杯，杯子在桌面倾倒、移向桌沿，未见夹爪将红杯可靠夹持搬至网架。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_1", + "t": 24.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：视频 20.0–34.0 s 的首次上架动作中，白杯一直随夹爪升降，未完成脱离；视频 35.0–44.0 s 机器人又将同一白杯带到红杯处，视频 45.0–67.0 s 两杯留在桌面后移出桌沿。第一杯上架始终没有完成，故断点为第1杯上架，导航锚点取视频约 24.0 s。" + }, + "unmet": { + "mugs_on_shelf_1": false, + "mugs_on_shelf_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没松开", + "t": 24.0, + "log_step": 77, + "evidence_zh": "推断：log step 77 的生成脚本把放置写为先收指释放、再撤退。视频 20.0–26.0 s 腕部画面显示白杯始终夹在两指之间，视频 27.0–34.0 s 撤起时它仍随夹爪移动，视频 35.0–37.0 s 又被带到红杯上方；首次放置没有实现杯子与手指脱离。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 24.0, + "log_step": 77, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 77 的脚本明确以杯内撑持后收指释放、撤退完成上架；视频 20.0–35.0 s 的实际夹爪动作未把已拿起的白杯留在网架上，而持续携杯进入下一次取杯动作。这支持放置及释放控制未奏效；现有证据不能进一步确定接触设计、夹爪指令或轨迹执行中的具体机制。" + } + ], + "gap_zh": "没有状态日志，不能精确复核杯子凸包与网架边界、手指接触对或释放指令生效时刻。log step 96 的第一杯放置及 progress 读数与视频不符；log step 99 又重复先前保存结果，后续 log step 101–105 未确认新文件保存完成，不能把这些会话结果计入视频进度，也不足以把差异归因为交付或仿真故障。根因仅标控制大类。" + }, + "summary_zh": "交付视频中机器人拿起白杯，但首次放置后仍持续持杯，继而将白杯带到红杯处；两杯随后移出桌沿，后续动作还带翻桌面和网架，最终两个上架节点均未达成。断点为第1杯上架操作中的未脱离夹爪，根因仅支持控制大类；无状态日志且会话进度读数与视频不符，不能据此认定会话中的放置在交付回放里成立。", + "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 20–34 s 白杯始终夹在夹爪上，两个上架节点未达成、断点在第1杯、没松开现象均与帧一致；根因仅标控制大类较保守但有证据支持，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": "2026-10-30T02:58:15Z", + "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/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--v4jsgwy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd4c8ff375efe309cfead039140893833617c7052682e1ec6b6338ddfcade6f3", + "video_sha256": "35d9552b7891a08875fb6699e759e0415c8e2163f350047dd3ace47c23ffb19e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf.json new file mode 100644 index 0000000000000000000000000000000000000000..0609a96ce8df21dca9c703a2304f68730e787d53 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf.json @@ -0,0 +1,178 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1090, + "sim_steps": 1090, + "final_reward": 1.0, + "replay_wall_s": 642.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 12, + "agent_sim_steps": 3270, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf/replay.mp4", + "duration_s": 72.733, + "fps": 15.0, + "frames": 1091, + "sha256": "a4619ae08eeeb3660843867ae32032eda5e6afad686c284e7ad08d653e4d06f7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [ + [ + 37.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 三只杯子均在桌面或盘内，金属网架上没有杯子。" + }, + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 21.0–24.0 s 机器人将双指伸入红杯并张开抵住杯内壁，红杯随夹爪升起，原先盘上的杯位空出；视频 27.0–36.8 s 红杯随机械臂移至网架上方并下降。" + }, + { + "t": 37.8, + "log_step": null, + "text_zh": "观察：视频 37.33 s 双指仍张开抵住红杯内壁；视频 37.60–38.00 s 双指合拢，红杯相对夹爪下落少许后停在网架顶层，视频 39.47–41.07 s 夹爪上撤而红杯留在原位。据这些前后帧，将第1杯上架起点标在视频约 37.8 s，误差约 0.3 s。" + }, + { + "t": 72.667, + "log_step": null, + "text_zh": "观察：视频 42.0–72.67 s 红杯一直留在网架顶层，机器人取放白杯时红杯没有离架；视频 72.67 s 红杯仍在架上，蓝白纹杯仍在桌面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 6.0–18.0 s 单臂 Robotiq 双指伸入红杯；视频 21.0–36.8 s 双指向外张开压住相对的杯内壁，以内撑接触持杯搬运；视频约 37.6 s 双指合拢解除内撑后上撤。接触方式按向外按压内壁记录。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [ + [ + 72.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 51.0–55.0 s 机器人将双指插入白杯并张开抵住内壁；视频 57.0–60.0 s 白杯随夹爪升起，桌面原杯位空出，红杯仍独立留在网架上。" + }, + { + "t": 72.6, + "log_step": null, + "text_zh": "观察：视频 69.0–72.53 s 机器人把白杯移至网架顶层并缓慢下降，双指仍张开内撑；视频 72.60–72.67 s 双指合拢，白杯相对手指下移至网架层面，红杯仍在架上，蓝白纹杯留在桌面。" + }, + { + "t": 72.667, + "log_step": 120, + "text_zh": "推断：视频 72.60–72.67 s 的白杯释放、落至网架与评分器 reward.success=1、all_success=1、deterministic=1 一致，因此第2杯上架在视频约 72.6 s 达成且终值为真。log step 120 记录提交文件共 1090 个动作；log step 130、136 的两次新进程回放均成功且终态哈希相同，支持该释放是交付轨迹的结果；不以 agent 工作时间换算视频时间。无逐帧接触日志，白杯最后与双指脱离的精确接触边界由成功判据补足。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 51.0–72.53 s 单臂 Robotiq 双指伸入白杯后向外张开，压住相对的杯内壁，以内撑接触搬运；视频 72.60–72.67 s 双指合拢解除内撑。接触方式按向外按压内壁记录。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人先将红杯于视频约 37.8 s 释放在网架顶层，再将白杯于视频约 72.6 s 释放到同一层，两个计数节点最终均成立，蓝白纹杯留在桌面；评分器判成功，两次新进程回放也均成功且终态哈希一致。两杯均通过双指在杯内张开、按压相对内壁来持取；没有状态日志，精确凸包边界及白杯末帧的完全脱离由视频上下文结合成功判据确认，上架时刻为近似值。", + "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，两个计数节点的时间与视频一致：红杯约37.6–38 s双指合拢后留在网架，白杯末帧释放并与评分器成功一致；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": "2026-10-30T03:08:13Z", + "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/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-privileged--vsedrtf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d4a9160ad13b77df69cee6f6e04b972288a3069731f680fe233c16b732f5c5aa", + "video_sha256": "a4619ae08eeeb3660843867ae32032eda5e6afad686c284e7ad08d653e4d06f7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt.json new file mode 100644 index 0000000000000000000000000000000000000000..1c38e4440cfda37a5d78d9085ce9ae73ef51a8e5 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt.json @@ -0,0 +1,202 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 2335, + "sim_steps": 2335, + "physics_steps": 18680, + "steps": 879, + "elapsed_s": 1230.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.325, + "peak_processes": 9, + "peak_disk_gb": 1.274, + "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/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt/replay.mp4", + "duration_s": 155.733, + "fps": 15.0, + "frames": 2336, + "sha256": "1581469c6724997cd552ec6e5e76e17a245ae119b01664bd0f9d2b500572663d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [ + [ + 111.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两幅外部视角显示白杯、红杯、蓝白纹杯均在桌面或盘上，金属网架上没有杯子；起始两个计数节点均不成立。" + }, + { + "t": 103.733, + "log_step": 93, + "text_zh": "观察：视频 103.73 s 外部斜视显示机器人二指夹爪夹住蓝白纹杯杯身并将它从桌面抬到网架高度，桌面原位置已无该杯；腕部视角显示两指分处杯身两侧。早先对红杯和白杯的抓取未把杯子送到网架，不据 agent 的抬杯自述提前记完成。" + }, + { + "t": 111.333, + "log_step": 97, + "text_zh": "观察：视频 110.73 s 蓝白纹杯仍在夹爪中，视频 110.87–111.33 s 机器人张开夹指，杯子下落并倒扣在网架上层网线上；视频 111.33–111.53 s 可见夹指与杯体分离，杯子由网层支承。首次完成取约视频 111.3 s，视觉时间误差约 0.2 s。" + }, + { + "t": 155.667, + "log_step": 123, + "text_zh": "观察：视频 115.73 s 至视频 155.67 s 的已检视画面中，蓝白纹杯一直倒扣在网架同一处，机器人离开它并搬运红杯，未见该杯离架或再次被夹持；第一杯状态持续至终帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪早期夹住红杯杯沿、尝试夹取白杯；视频 103.73 s 可见两指夹住蓝白纹杯杯身搬运，视频 110.87–111.33 s 张指使该杯倒扣落到网架。该计数节点最终由蓝白纹杯达到。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [ + [ + 155.667, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140.533, + "log_step": 112, + "text_zh": "观察：视频 140.53 s 前后机器人夹住红杯并抬离桌面，视频 145.53 s 红杯已随夹爪升到网架高度；蓝白纹杯仍倒扣留在架上，尚未出现第二只已脱离夹指的架上杯。" + }, + { + "t": 155.533, + "log_step": 121, + "text_zh": "观察：视频 150 s 至视频 155.53 s 的外部斜视和腕部视角显示机器人将红杯移到蓝白纹杯旁并下放到网架层面边缘，夹指仍位于红杯杯口附近；视频 155.60 s、155.67 s 夹指开始张开。最后一秒已逐帧检查，但微小接触间隙不能单凭图像精确分辨。" + }, + { + "t": 155.667, + "log_step": 123, + "text_zh": "观察：log step 123 中机器人服务先报告 control_steps=2333、done=false，随后报告 control_steps=2335、done=true、reason=success；run.json 的评分器字段 live_success=1、replay_success=1、deterministic=1、live_matches_replay=1，且 resumes=0。这里的服务状态是本次单一现场评分过程的状态，并非 agent 自述完成。" + }, + { + "t": 155.667, + "log_step": 123, + "text_zh": "推断：按 log step 96、121 的动作 dt=1/15 s 和视频 15 fps，将本次 control_steps=2335 映射到视频 2335/15=155.667 s；log step 97 的蓝杯张指区间 control_steps=1661–1676 对应视频 110.73–111.73 s，已与可见的张指落杯核对。末帧显示红杯在架边、蓝白纹杯仍在架上，未直接反驳成功；据服务首个成功控制步及单杯接触、范围、两指脱离的合取判据，第二杯节点在约视频 155.67 s 达到并终态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 140.53–155.53 s，机器人单臂二指夹爪夹住红杯杯沿，一指在杯内、一指在杯外，抬升后搬到蓝白纹杯旁的网架层面；视频 155.60–155.67 s 开始张指。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "机器人先经历红杯滑落和白杯抓取失败，随后将蓝白纹杯倒扣放到网架，约视频 111.3 s 达到第1杯上架；再重新抓取红杯并下放，约视频 155.67 s 服务触发恰好两杯的成功验收，最终完成 2/2 节点，无失败断点。没有状态日志，末帧红杯与夹指之间的微小接触间隙无法直接量出，终态单杯判据由画面与一致的现场、回放成功字段共同支持，第二节点时间依据已核对的控制步时钟。", + "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：第1杯约视频111.3 s 蓝白纹杯脱手落在网架，第2杯约155.67 s 红杯放到架上，由服务 control_steps=2335 终态成功与回放一致字段界定，无失败断点；标注与帧一致。", + "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": "2026-10-30T02:38:59Z", + "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/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--d9uv7jt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f4b492d2992c90908f99845226717a8f5cbd20b3da9e01cb47fd0e9a2a8b6226", + "video_sha256": "1581469c6724997cd552ec6e5e76e17a245ae119b01664bd0f9d2b500572663d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb97cd04caaecb10735d5009aff672d00fdc5d5 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15070, + "sim_steps": 15070, + "physics_steps": 120560, + "steps": 1458, + "elapsed_s": 4750.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.426, + "peak_processes": 15, + "peak_disk_gb": 1.102, + "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/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8/replay.mp4", + "duration_s": 502.4, + "fps": 15.0, + "frames": 7536, + "sha256": "04a709cc4ef5818024fcd1f0a1cf26ed355030fdfb4c04e8f42ba6190a165f41" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 三杯都在桌面或盘上，金属网架层面没有杯子。" + }, + { + "t": 40, + "log_step": null, + "text_zh": "观察：视频 20–47.5 s，机器人二指伸入白杯内撑并将其抬离桌面、朝网架搬运；视频约 48 s 白杯从指端滑脱，视频 49–52 s 白杯侧躺在网架旁的桌边，没有落到网架层面。此前持杯期间仍接触手指，也未满足松手上架判据。" + }, + { + "t": 360, + "log_step": null, + "text_zh": "观察：全程粗查并细查视频 331–338.5 s，机器人接近蓝白纹杯时碰动红杯、盘和网架；视频 344–370 s 又把夹爪伸入蓝白纹杯并抬手，但杯子仍留在原桌面位置。视频 480–500 s 红杯的内撑尝试后，红杯也仍在盘上，均没有完成上架。" + }, + { + "t": 502.2, + "log_step": 224, + "text_zh": "观察：视频 501.4–502.33 s 的末秒连续帧中，红杯在盘上、蓝白纹杯在桌面、白杯侧躺在桌边，网架已被移向机器人侧，三杯均未由网架承接且位于其范围外。评分器字段 live_success=0、replay_success=0、live_matches_replay=1；该结论由画面判断，不以零分反推。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 20–47.5 s，Robotiq 两指插入白杯杯腔后向外压住内壁，以内撑接触承载并搬运白杯；随后杯子滑脱。视频 344–366 s 对蓝白纹杯也有伸指、撑压杯内壁的接触，但未将杯子带离桌面。这些是指端向外撑压，未见从杯身两侧合拢包夹。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 331–338.5 s，机器人末端与前臂经过盘、红杯及网架所在区域，碰动红杯和盘，并推移网架；这些是尝试获得第1只上架杯子期间的非预期碰触。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 502.2, + "log_step": null, + "text_zh": "观察：视频 0–502.33 s 的全程粗查、白杯搬运与脱落片段及末秒连续帧，均未见两只杯子同时脱离手指并由网架承接；终态三杯分别留在盘上、桌面和桌边。后续换杯抓取均是在尚无一杯上架时继续尝试第1杯，未观察到在保有第1杯上架的基础上操作第2杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_1", + "t": 48, + "log_step": 74, + "where": "操作中", + "evidence_zh": "观察：机器人在视频 28–47.5 s 持白杯朝网架方向搬运，视频约 48 s 白杯滑脱并落在架外桌边，视频 52 s 已侧躺；视频 502.2 s 仍无一杯完成上架。log step 65、74 的脚本分别安排杯内张指支撑和持杯搬运。推断：这是第1杯上架过程中最早未被后续任何一次上架成功修复的失败，后来的蓝白纹杯、红杯尝试仍属于该计数步骤。" + }, + "unmet": { + "mugs_on_shelf_1": false, + "mugs_on_shelf_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 48, + "log_step": null, + "evidence_zh": "观察：视频 28–47.5 s 白杯已离开原桌面位置，随机器人夹爪移动；视频 47.75–49 s 白杯相对指端下滑、转倒并脱离，随后侧躺在架外桌边。机器人先持住而后丢失杯子，尚未到达网架上的计划释放位置。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 336.5, + "log_step": null, + "evidence_zh": "观察：视频 331–338.5 s，机器人为接近蓝白纹杯而转动、下探时，末端和前臂进入红杯、盘与网架所在区域，红杯和盘被碰移，随后网架明显向机器人方向移动；视频 338.5 s 后网架已偏离原位。机器人后续仍未完成第1杯上架。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 48, + "log_step": 65, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：白杯的杯内张指支撑未能在搬运时持续承载杯子。log step 65 的脚本将闭合指端插入杯内后命令张开，后续提升继续保持张开；log step 74 的搬运也保持张开，原定抵达网架后才合指释放。视频 20–47.5 s 可见指端在杯内撑压并将杯子带起，视频约 48 s 杯子却滑脱，因此不能解释成从未抓起或在目标上主动放下。仅据这些证据归因为承载接触设计不足，不把 agent 在 log step 229 自述的锥形杯腔机理当作已验证事实。" + }, + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 336.5, + "log_step": 171, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：后续接近杯子的轨迹执行未保持避障与末端目标跟踪。log step 171 的 Mv.move 仅求目标位姿的逆解，再在当前关节角与目标关节角间插值；执行误差大时又外推目标位置重试。log step 172、174 的实际输出记录位姿误差增大及关节驱动 effort 达 87，而视频 331–338.5 s 显示机械臂碰动盘、杯和网架，未沿预期路径接近蓝白纹杯。该证据支持轨迹执行问题，不能由端点有逆解推出整段运动可无碰撞完成。" + } + ], + "gap_zh": "没有状态日志或逐指接触、摩擦与力数据；可确认白杯内撑搬运后滑脱，但不能进一步量化接触深度、摩擦和运动载荷各自的贡献。网架碰撞的具体接触连杆也不能逐一确定。节点按外部斜视与腕部画面判断，凸包边界未作数值复算；三杯始终未在网架上释放承接，足以判定两个节点未达。" + }, + "summary_zh": "本次单一现场回合中，两项上架节点均未达，最高及最终进度为 0/2；评分器记录现场与回放一致失败。机器人内撑抬起白杯后在视频约 48 s 丢失承载接触，后续抓杯接近轨迹又碰移盘、红杯和网架，始终没有补成第1杯上架。视频末秒确认三杯均在架外；缺少状态日志与接触力数据，内撑失效的更细机制仍不确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 10–52 s、100–502 s 帧及末帧：白杯 30–47 s 被抬起、约 48 s 脱落到桌边，末帧三杯均在架外，两节点未达、最终 0/2 与帧相符；断点、现象与根因证据与视频一致，未发现需要修改的错误。未逐帧细查 331–338.5 s 与 344–370 s 的接触细节，本次抽查为粗查。", + "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": "2026-10-30T03:29:27Z", + "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/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--nwlnlw8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0df9eb7373d6b7f1f1fb13eb833a70d77ff65e772e964cc790390cd14e212ee8", + "video_sha256": "04a709cc4ef5818024fcd1f0a1cf26ed355030fdfb4c04e8f42ba6190a165f41", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8.json new file mode 100644 index 0000000000000000000000000000000000000000..921a7ec049c03ee63cddc6e71c0332c9b6cd1a95 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8.json @@ -0,0 +1,227 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 18373, + "sim_steps": 18373, + "physics_steps": 146984, + "steps": 1403, + "elapsed_s": 5087.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.813, + "peak_processes": 6, + "peak_disk_gb": 0.335, + "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/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8/replay.mp4", + "duration_s": 408.333, + "fps": 15.0, + "frames": 6125, + "sha256": "f9ca2928325d21fb8bac1701322df4fbf81ba1026e66d870c5b93edd00734d6b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红杯在盘子上，白杯和蓝白纹杯在桌面上，三杯均在网架外。" + }, + { + "t": 44.4, + "log_step": 86, + "text_zh": "观察：视频 42.0–44.2 s，机器人夹爪夹着红杯抬离盘子；视频 44.4 s 红杯脱离夹爪下落，视频 44.6–53.0 s 杯身侧卧在网架角柱外侧的桌面上，未留在网架层面。log step 86 的搬运脚本在抬升、平移期间持续发送闭爪命令，预定到架上下降后才开爪。" + }, + { + "t": 84.8, + "log_step": 98, + "text_zh": "观察：视频 80.0–84.6 s 机器人夹住白杯并抬起，视频 84.8–85.0 s 白杯掉回盘子。视频 178.0–182.0 s 蓝白纹杯抓取后仍在原桌面位置，夹爪空着离开。" + }, + { + "t": 231.5, + "log_step": null, + "text_zh": "观察：视频 227.0–231.5 s，网架发生倾斜，原在网架上的白色刮铲落下并带动架外红杯，红杯沿桌面滑向桌边后落出视野；没有看到红杯被重新抓起放上网架。" + }, + { + "t": 408.2, + "log_step": null, + "text_zh": "观察：视频 379.0–382.0 s 夹爪触动蓝白纹杯使其侧倒，视频 395.0–405.0 s 又在盘上白杯附近开合、抬离，白杯未离开盘子；视频 407.4、407.8、408.2 s 白杯仍在盘子上，蓝白纹杯仍侧卧在网架外桌面，网架上无杯。" + }, + { + "t": 50.0, + "log_step": null, + "text_zh": "推断：综合视频 44.6–53.0 s 的外部斜视、正面及腕部视角，红杯杯身落在角柱外侧，仅杯柄贴近柱子，不能据此认定杯子凸包均值已进入网架范围；后续也未见任何杯子完成接触网架且脱离手指的上架状态，故第1杯上架判为未达。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪在视频 12.0–26.0 s 及视频 42.0–44.2 s 夹住红杯杯口附近并抬升；后续视频 140.0 s 附近再次向架脚处的红杯闭爪，未将杯子搬上网架。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.8, + "log_step": 98, + "text_zh": "观察：视频 60.0–84.6 s 机器人对另一只白杯抓握、抬升，视频 84.8 s 白杯掉回盘子；红杯仍在架脚外桌面，没有形成两杯上架。" + }, + { + "t": 382.0, + "log_step": null, + "text_zh": "观察：视频 178.0–182.0 s 的蓝白纹杯尝试没有将杯子带离桌面；视频 379.0–382.0 s 再次接近时夹爪将蓝白纹杯触倒，随后空手向网架运动。" + }, + { + "t": 408.2, + "log_step": 159, + "text_zh": "观察：视频 407.4–408.2 s，白杯留在盘子上，蓝白纹杯侧卧在桌面，红杯已不在网架上或桌上可见区域，没有两杯满足上架判据。log step 159 中 agent 后续按颜色分割的结果也报告蓝杯点云全部在桌面；此结果仅作辅助，最终值依据视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：作为后续杯子的放置尝试，机器人二指夹爪在视频 76.0–84.6 s 夹住白杯杯缘并抬升，白杯随后脱落；视频 379.0–382.0 s 的后续接触中，夹爪顶推蓝白纹杯的杯口并使杯子侧倒，未形成向网架的有效搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_1", + "t": 44.4, + "log_step": 86, + "where": "操作中", + "evidence_zh": "观察：视频 42.0–44.2 s 机器人夹持红杯向上抬升并开始搬运，视频 44.4 s 红杯在到达网架前脱离夹爪，随后落到架脚外桌面；后续白杯搬运也脱落，蓝白纹杯未被放上架。推断：第1杯上架这一最早失败的计数步骤始终未被后续尝试修复。" + }, + "unmet": { + "mugs_on_shelf_1": false, + "mugs_on_shelf_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 44.4, + "log_step": 86, + "evidence_zh": "观察：视频 43.6–44.2 s 红杯仍随机器人夹爪运动，视频 44.4 s 突然脱离并下落，视频 44.6 s 已在桌面；log step 86 脚本在这一搬运段指定 gripper_cmd=1.0，开爪安排在目标放置点之后，因此这是搬运中丢失夹持。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 86 的脚本在抬升和移向网架时要求持续闭爪，但视频 42.0–44.4 s 显示机器人只能短暂携带红杯，随后杯子脱落；log step 98 的白杯脚本同样在闭爪搬运段丢杯（视频 84.6–84.8 s）。两次都已建立抓握却未维持到放置点，支持抓持执行的控制问题；现有证据不足以区分接触几何、夹持力和运动跟踪子类。" + } + ], + "gap_zh": "没有模拟器状态日志或逐杯原生空间与接触谓词。红杯靠近架脚期间，精确凸包归属和瞬时触碰只能由多视角位置关系推断；最终两只可见杯子均在架外则清晰可见。缺少接触力与手指跟踪数据，根因仅标控制，不细分为抓取设计、反馈控制或参数错误。" + }, + "summary_zh": "评分轨迹中机器人多次尝试抓放三只杯子，但两个计数节点均未达，最终为0/2。视频约 44.4 s 搬运红杯时失去夹持，是第1杯上架未被修复的断点；白杯随后也掉回盘子，蓝白纹杯最终被碰倒在桌面，支持抓持执行的控制问题。无状态日志，架脚处的精确凸包与瞬时接触及控制子类存在证据缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "终值 0/2、两个节点未达、断点为红杯搬运途中脱落（视频约 44.4 s），与帧一致；根因仅标控制并在 gap 中说明证据不足，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": "2026-10-30T03:12:17Z", + "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/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xd9yhx8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "157c4c95c74f2640770710a6c802f5e98a74d5dcd285b34cd1eb7fea48c69d09", + "video_sha256": "f9ca2928325d21fb8bac1701322df4fbf81ba1026e66d870c5b93edd00734d6b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg.json new file mode 100644 index 0000000000000000000000000000000000000000..a741a166de7ca60dce333bed203b2d6628d77dfb --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 7190, + "sim_steps": 7190, + "physics_steps": 57520, + "steps": 1324, + "elapsed_s": 5366.1, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg/replay.mp4", + "duration_s": 479.4, + "fps": 15.0, + "frames": 7191, + "sha256": "7e4aae1224f418d3c359164af8ffd12cc8b5428959c27c8cb01d90bd279c4c36" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯和蓝白纹杯在桌面上，红杯在盘子上，三杯均在金属网架外，架面没有杯子。" + }, + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 9–21 s，机器人夹爪下降到蓝白纹杯杯口附近；视频 24–30 s，夹爪空手上升，蓝白纹杯仍留在桌面，未发生上架。" + }, + { + "t": 395.7, + "log_step": null, + "text_zh": "观察：视频 392.0–395.2 s，机器人夹着红杯离开盘子向上抬；视频约 395.7 s，红杯脱离夹爪，视频 396.3 s 已倒扣回盘上，未接触网架。" + }, + { + "t": 461.0, + "log_step": 126, + "text_zh": "观察：视频 458–460.7 s，蓝白纹杯随机器人夹爪离开桌面；视频约 461.0 s，杯子脱离夹爪落回桌面并侧倒，网架仍为空。agent 在 log step 126 自述蓝杯在全程抬升时滑脱，与该段画面一致。" + }, + { + "t": 479.3, + "log_step": null, + "text_zh": "观察：视频 478.4–479.3 s，机器人空夹爪靠近白杯，白杯仍在桌面，蓝白纹杯侧倒在桌面，红杯倒扣在盘上；三杯均在架外。全程粗采样及抓杯、掉杯片段密查未见任何杯子接触架面并松爪，因此第1杯上架从未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单个 Robotiq 二指夹爪反复从上方接近杯口并闭合；视频 392–395.2 s 夹持红杯抬离盘子，视频 458–460.7 s 夹持蓝白纹杯抬离桌面，两次随后均失去杯子。各次选杯、重试都在尝试完成第1杯上架。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，三杯均在网架外，架面没有杯子，未满足至少两杯上架。" + }, + { + "t": 396.3, + "log_step": null, + "text_zh": "观察：视频 396.3 s，红杯抬起后已落回盘上，白杯和蓝白纹杯仍在桌面，架面仍没有杯子。" + }, + { + "t": 479.3, + "log_step": null, + "text_zh": "观察：视频 461.3 s 及视频 478.4–479.3 s，蓝白纹杯侧倒在桌面，红杯在盘上，白杯在桌面，网架上没有杯子。机器人一直在重试首杯搬运，没有形成首杯留架后再增加第二杯的阶段；第2杯上架从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_1", + "t": 24.0, + "log_step": 68, + "where": "操作中", + "evidence_zh": "观察：机器人正在尝试第1杯上架；视频 12–21 s 夹爪在蓝白纹杯杯口附近闭合，视频 24–30 s 夹爪空手上升而杯子留在桌面，首次抓取失败。log step 68 中 agent 自述蓝杯抬升后仍在桌上，与画面一致；该日志只作事件旁证，不将 agent 时间换算为视频时间。后续视频约 395.7 s 红杯、视频约 461.0 s 蓝白纹杯均在抬起后脱落，直到视频 479.3 s 仍无杯子上架，因此第1杯上架始终未修复。" + }, + "unmet": { + "mugs_on_shelf_1": false, + "mugs_on_shelf_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 24.0, + "log_step": 68, + "evidence_zh": "观察：视频 12–21 s 机器人夹爪下降到蓝白纹杯杯口附近并闭合，视频 24–30 s 空夹爪上升，杯子仍直立留在桌面；这次没有建立能抬起杯子的夹持，区别于后续抬起后脱落。log step 68 中 agent 亦自述蓝杯抬升后留在桌上。" + }, + { + "cat": "接触", + "item": "没保持住", + "t": 395.7, + "log_step": null, + "evidence_zh": "观察：视频 392–395.2 s，机器人夹持红杯抬离原来的盘子；视频约 395.7 s 红杯脱离夹爪并翻落回盘上。另一次视频 458–460.7 s 蓝白纹杯也被抬起，视频约 461.0 s 脱离夹爪落回桌面并侧倒；两次均发生在杯子尚未到网架时。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 450.0, + "log_step": 127, + "source_zh": "视频 / agent 自述", + "evidence_zh": "推断：本次杯口附近的俯抓接触布置未形成稳定的承载夹持，既解释首次空夹，也解释后续抬升滑脱。视频 12–21 s 机器人夹指在蓝白纹杯杯口附近闭合，视频 24–30 s 空手上升；agent 在 log step 71 自述手指伸入杯口而非夹住外部杯身，与该段画面相符。视频 450–456 s 腕部视角可见蓝白纹杯的一侧夹指伸入杯口、另一侧在杯壁外，视频 458–460.7 s 杯子随夹爪抬起后相对夹爪倾转，视频约 461.0 s 脱离；此前红杯也在视频约 395.7 s 抬升后脱落，均未到网架。agent 在 log step 126、127 提出改用水平侧夹，log step 138 的脚本也写入侧向夹持，但提案或代码不等于替代抓法已验证可行，视频最后一秒仍无稳定侧夹搬运成果。log step 115、123 的短抬成功自述与后续蓝杯短暂随爪上升相符，却仍以视频约 461.0 s 掉杯结束，不能验证完成搬运所需的稳定替代夹持；也不能据此排除所有合法抓法，因此 alt_feasible 保留“未知”。该归因针对本次接触布置，不断言所有俯抓都不可行。" + } + ], + "gap_zh": "未提供状态日志或逐接触力数据，杯壁内外夹持的精确接触点、摩擦及掉杯瞬间的夹爪控制量无法独立重建，抓取和接触设计为画面与日志结合的推断。日志若干脚本修改仅保留截短内容，不能进一步判定夹持几何、夹紧力和开合控制各自的贡献；上架节点的未达及两次抬杯后脱离可由多视角直接确认。 替代侧夹虽在 log step 126、127 中被提出并在 log step 138 的脚本中实现，现有画面和日志未验证其可稳定夹持并搬运；短抬后继续抬升仍掉杯，故可行替代方案仍为未知。" + }, + "summary_zh": "观察：机器人反复抓取蓝白纹杯和红杯，但没有杯子完成上架，第1杯、第2杯上架均未达成，最终进度为 0/2。观察：视频约 24.0 s 首次空夹抬升蓝白纹杯失败，此后视频约 395.7 s 红杯、视频约 461.0 s 蓝白纹杯又在抬起后脱落；断点为始终未修复的第1杯上架，推断杯口附近的接触布置未能形成稳定承载。缺少状态与接触力日志，具体失稳机制仍有不确定性，所提水平侧夹也未验证可行。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（两杯均未上架，0/2）与视频一致，无误；但断点锚在第二次失败（红杯，约395.7 s），而本步首次失败是视频约12–30 s蓝白纹杯没夹住（空手上升）；该阶段的接触现象缺失，且根因 alt_feasible 填“未知”而日志中 agent 已改用水平侧夹，可判定。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（两杯均未上架，0/2）、断点（视频约24 s首次空夹，第1杯上架）、现象（没建立接触、没保持住）与视频一致；根因标为推断且 alt_feasible 未知有说明，无需修改。", + "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": "2026-10-30T03:25:27Z", + "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/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--xtgsdkg/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0d00922ee905fb9e41efae4690516be30ae4cbd48f0d5cec011b32a3ac639d92", + "video_sha256": "7e4aae1224f418d3c359164af8ffd12cc8b5428959c27c8cb01d90bd279c4c36", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl.json b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl.json new file mode 100644 index 0000000000000000000000000000000000000000..ef537ffb11787de707184ef05fd3ddf50df33ee0 --- /dev/null +++ b/phase2/robolab/put_two_mugs_on_shelf/trajectories/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-put-two-mugs-on-shelf-i00-standard--yehquxl", + "taskKey": "robolab/put_two_mugs_on_shelf", + "dag_sha256": "f892e760378f6e8d5cb993bcb670575afc45b0fb8cfd29a7acdc782a749da12e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 6904, + "sim_steps": 6904, + "physics_steps": 55232, + "steps": 4864, + "elapsed_s": 3160.4, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.303, + "peak_processes": 10, + "peak_disk_gb": 0.649, + "resource_emergency_kills": 0, + "regrade_0130": { + "tag": "robolab-244", + "old": 1, + "new": 0, + "why": "#244 both fingers / on-table / settle hold (re-graded on the recording host class): ", + "at": "2026-10-15 17:19:40" + } + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl/replay.mp4", + "duration_s": 460.333, + "fps": 15.0, + "frames": 6905, + "sha256": "ba3d7e7fd325b98bed4520a466b2e739eb8fd4665079be82f1ec8cd45ca0780d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mugs_on_shelf_1": { + "method": "visual", + "intervals": [ + [ + 367.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 7, + "text_zh": "观察：视频 0.0 s 三只杯子均在网架外的桌面或盘子上，网架上没有杯子。" + }, + { + "t": 367.3, + "log_step": 116, + "text_zh": "观察：视频 366.8–367.1 s 夹爪仍夹着红杯杯柄；视频 367.2–367.5 s 两指张开，红杯落稳在网架顶层，杯柄与两指分离；视频 371.4 s 夹爪上撤而红杯留在原处。第1杯按最先完成单杯判据的红杯计，起点取视频约 367.3 s，精度约半秒。" + }, + { + "t": 460.267, + "log_step": 140, + "text_zh": "观察：视频 373–460.267 s 红杯持续留在顶层网面上；视频 459.333–460.267 s 的逐帧腕部视角及末帧外部斜视均显示红杯与夹爪分开，机器人搬运白杯没有破坏红杯上架状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 320–367 s，Franka 单臂的 Robotiq 二指夹爪从两侧夹住红杯杯柄，提起并搬到网架顶层，随后张开两指释放。" + }, + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：在第1杯尚未上架的工作阶段，视频约 90–200 s 张开的夹爪手指勾住网架边线，机器人多次试着退开并最终脱出；腕部视角显示手指与架边的勾挂，log step 58、70 记录该处脱困操作。这段接触未使杯子上架。" + } + ] + }, + "mugs_on_shelf_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402, + "log_step": 131, + "text_zh": "观察：视频 395–402 s 夹爪以闭合手指伸入横躺白杯的杯口，随后抬指托住杯内壁；视频 413–422 s 白杯离开原桌面位置并随夹爪升高。此时红杯已独立留在架上，白杯仍由手指承载，尚不满足第2杯的脱离判据。" + }, + { + "t": 459.8, + "log_step": 140, + "text_zh": "观察：视频 454–460.267 s 白杯被降低到红杯旁的顶层网面附近，但视频 459.333–460.267 s 每帧腕部画面都显示闭合手指仍伸在白杯内部，末帧斜视也未见夹爪退出杯口；蓝白纹杯仍横躺在架外桌面。" + }, + { + "t": 460.267, + "log_step": 140, + "text_zh": "推断：结合视频 459.333–460.267 s 白杯内仍有承载手指、全片没有第二只杯子完成释放，以及最终重评分 success=0，不把白杯在架面附近视为已完成双指脱离，故第2杯无达成区间、终值 false。原现场及回放 success=1 已由 reward.regrade_0130 改判为 0，不能用旧成功字段给本节点补记完成。" + }, + { + "t": 460.267, + "log_step": 140, + "text_zh": "观察：log step 140 的脚本计划沿工具轴退出 0.10 m，服务却返回 done=True、reason=success、control_steps=6904；TCP 从 log step 136 的 [0.431,0.165,0.422] 仅到 [0.425,0.165,0.420]。推断：log step 5 给出控制率 15 Hz，6904/15=视频 460.267 s，与末帧核对一致；log step 116 的 control_steps=5607 对应视频 373.8 s，也与红杯释放后上撤画面一致。这里只用控制步核对视频时钟，不换算 agent 工作时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：视频约 400–460.267 s，Robotiq 的闭合手指伸入横躺白杯并向上转，勾托杯内壁搬运白杯；没有从杯身外侧形成相向夹持。到末帧仍未完全从杯内退出。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mugs_on_shelf_2", + "t": 460.2, + "log_step": 140, + "where": "操作中", + "evidence_zh": "观察：视频 459.333–460.267 s 白杯在架面处仍套在闭合手指上，机器人仅开始退指；log step 140 提交沿工具轴退出 0.10 m 的动作后，服务立即返回 done=True、reason=success，实际 TCP 只退出约 6 mm。评分器 reward.regrade_0130 将旧成功 1 改为 0；第2杯的完整释放未在记录内完成，断点为该杯上架的退指阶段。" + }, + "unmet": { + "mugs_on_shelf_1": true, + "mugs_on_shelf_2": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，没有状态日志；reward.regrade_0130 的说明仅为“#244 both fingers / on-table / settle hold”，未报告逐杯接触或具体失败子项。推断：任务设计问题：实时服务在 log step 140 的退指动作尚未执行完时自动报成功并封闭本局，而后续重评分又拒绝这个终态；不能据此把被截断的释放认定为机器人自身的没松开、控制失效或误以为完成，按 S9 将现象和根因留空。视频支持白杯未完成双指脱离，但无法量出每根手指的接触间隙或复核重评全部子条件，也无法知道退指动作完整执行后的结果。" + }, + "summary_zh": "机器人最终完成第1杯上架：红杯在视频约 367.3 s 释放后一直留在网架顶层；白杯被勾托到顶层旁，但直到视频 460.267 s 末帧手指仍在杯内，第2杯未完成，节点终态为 1/2。任务设计问题：log step 140 的退指动作刚开始，实时服务即自动判成功结束，后续 reward.regrade_0130 又以“#244 both fingers / on-table / settle hold”改判失败，本文件按最终评分及双指脱离判据标注。缺少逐杯接触和重评子项明细，不把该提前终止及改判推作机器人失败现象或根因。", + "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、时钟、断点与空现象/根因（任务设计问题，S9）均与视频一致：红杯约 367–368 s 释放后留在架上，白杯在末帧仍套在手指上，第2杯未达成。", + "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": "2026-10-30T03:14:54Z", + "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/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-put-two-mugs-on-shelf-i00-standard--yehquxl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8350f77c7d23d2718690a1d3307fe5e17aebd2cadab4c817d913527edad25598", + "video_sha256": "ba3d7e7fd325b98bed4520a466b2e739eb8fd4665079be82f1ec8cd45ca0780d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0ad3a00fec1045792f6819db5d6f04b9aedbe6 --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx.json @@ -0,0 +1,221 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-privileged--4dzqdnx", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1003, + "sim_steps": 1003, + "final_reward": 0.5, + "replay_wall_s": 662.0, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 47, + "agent_sim_steps": 0, + "agent_records": 26, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.823, + "peak_memory_gb": 7.083, + "peak_processes": 14, + "peak_disk_gb": 1.027, + "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/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx/replay.mp4", + "duration_s": 66.933, + "fps": 15.0, + "frames": 1004, + "sha256": "4db09186bc78d88bcd6f07cea49596ea2bae78eaf96c821593783836c56e5bfc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红杯在桌面、灰箱外。" + }, + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频约 4.5–6.5 s，Robotiq 两侧夹指伸入红杯并向杯内壁张开；视频约 7.5–8.5 s 杯体随夹爪离开桌面，原杯位空出。" + }, + { + "t": 11.5, + "log_step": null, + "text_zh": "推断：综合视频约 10.0–12.5 s 的桌前、左肩和腕部画面，机器人横向搬运红杯，其主体中心约在视频 11.5 s 进入灰箱开口向上延伸的区域；此时杯子仍被持有且高于箱沿，按本节点判据已成立，视觉边界时刻约有 0.5 s 不确定性。" + }, + { + "t": 19.5, + "log_step": null, + "text_zh": "观察：视频约 18.5–20.5 s 夹指与杯子分离，杯子在灰箱内短暂翻转后直立；后续画面直到视频 66.8 s，红杯一直留在灰箱内，夹爪转去推碗。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "Robotiq 二指夹爪伸入红杯后张开，两侧夹指对向撑住杯内壁形成内撑抓握，持杯抬起和搬运，随后收拢夹指释放。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红碗在桌面、灰箱外；机器人先搬运红杯，红碗留在原位。" + }, + { + "t": 41.0, + "log_step": null, + "text_zh": "观察：视频约 38.0–42.5 s 机器人向红碗下降，单侧夹指的平面接触碗沿；视频 42–64 s 夹爪持续向灰箱方向推碗，碗在桌面滑移及转动，没有被夹持抬起。" + }, + { + "t": 66.8, + "log_step": null, + "text_zh": "观察：视频 65.9–66.8 s 红碗仍在灰箱外的桌面、魔方旁，主体中心未进入灰箱开口区域；全段检查未见碗入箱，末段夹指仍在碗沿处。" + }, + { + "t": null, + "log_step": 132, + "text_zh": "观察：log step 132 记录保存了 1003 行轨迹，服务返回 success=False、progress=0.5；log step 140 最终核对的交付仍为 1003 行。视频所见杯入箱而碗在桌面与此一致；log step 138 延长推碗的新测试在抬杯阶段报错，未形成替换交付。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "Robotiq 单侧夹指的平面抵住红碗碗沿，向灰箱方向水平推移；另一侧夹指未与其对向夹持碗体，红碗始终由桌面承托。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowl_in_bin", + "t": 66.0, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频约 41–66.8 s 机器人实际在推红碗；推移结束时碗仍在魔方旁的桌面，中心与灰箱开口明显分离，未完成入箱。红杯已留在箱内，所以首次未获修复的失败步骤是红碗入灰箱；log step 132 保存的 1003 行文件一直保留至 log step 140 的最终检查。" + }, + "unmet": { + "mug_in_bin": true, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 66.0, + "log_step": null, + "evidence_zh": "观察：视频约 54–66.8 s，机器人用夹指把红碗沿桌面向灰箱方向推了一段，但末段碗仍完全在箱外、魔方旁，主体中心没有到达灰箱的容纳区域；不是入箱后失稳，也没有先持起再掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 65、67、79 的会话测试中，机器人尝试夹住碗沿并抬升，碗没有随夹爪保持抬起；log step 82、85、88 的侧向夹持测试又反复返回 move_ee 不收敛。agent 的交付脚本因此采用低位单指推碗（log step 122、131），视频约 41–66.8 s 确认交付确实只推移而未建立搬运抓持，最终仍在箱外，说明碗的操控方案未解决。现有证据不能可靠区分接触几何与轨迹求解各自的贡献，故根因停在控制。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志或成功示范，红杯首次跨越灰箱凸包边界的时刻只能由三视角估计，约有 0.5 s 不确定性。会话中的抓持与逆解失败只能支持控制层归因，缺少接触力、关节限位及可行替代方案验证，无法进一步确定控制子类；agent 对尺寸和不可达性的最终自述不作为任务无解的证据。" + }, + "summary_zh": "机器人以内撑抓握抬起红杯，约在视频 11.5 s 将其移到灰箱上方的容纳区域，随后释放，红杯一直留在箱内；终态完成 1/2 节点。红碗仅被单侧夹指沿桌面推移，直到视频 66.8 s 仍在箱外，断点为红碗入灰箱，现象为位姿不准；会话中的多次抓碗及侧向接近失败支持控制层根因，但不足以区分具体子类。没有状态日志，杯子跨入边界的时刻为视觉估计，后续延长推碗的会话测试未替换已保存轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "红杯约视频 11.5 s 持于灰箱上方并随后留在箱内，红碗直到 66.5 s 仍在箱外，节点、断点、现象与根因均有证据支持，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": "2026-10-30T02:59:51Z", + "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/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--4dzqdnx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f6529450226b6dcba92270890607cc3328aa4462ece699021fc77378adb95b41", + "video_sha256": "4db09186bc78d88bcd6f07cea49596ea2bae78eaf96c821593783836c56e5bfc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--m9bqqms.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--m9bqqms.json new file mode 100644 index 0000000000000000000000000000000000000000..254dcafdac9fb024f46cbca8a1023a037f8b50a7 --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--m9bqqms.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-privileged--m9bqqms", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 243, + "sim_steps": 243, + "final_reward": 0.5, + "replay_wall_s": 363.6, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 96, + "agent_sim_steps": 5965, + "agent_records": 17, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 5.643, + "peak_memory_gb": 11.976, + "peak_processes": 13, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-red-dishes-in-bin-i00-privileged--m9bqqms/replay.mp4", + "duration_s": 16.267, + "fps": 15.0, + "frames": 244, + "sha256": "c82f8ffed71aacf38a653b00657b4b4b4a3155938788cd00add091895885a843" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [ + [ + 9.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红杯直立在桌面、灰箱外；红碗也在箱外。" + }, + { + "t": 9.3, + "log_step": null, + "text_zh": "观察：视频 6.3–8.7 s 机器人夹爪带着红杯离开桌面并向灰箱移动；视频约 9.3 s，结合桌前和腕部视角，杯子主体中心已越过灰箱开口边界，仍由夹爪持着且高于箱沿。按 DAG 的容纳判据计为到达，边界时刻视觉误差约 0.3 s。" + }, + { + "t": 13.7, + "log_step": null, + "text_zh": "观察：视频约 13.5–13.9 s 机器人夹指从杯内收拢退出，红杯落入灰箱并侧躺；视频 14.1–16.2 s 夹爪抬离，杯子持续留在箱内。" + }, + { + "t": 16.2, + "log_step": 107, + "text_zh": "观察：视频 16.2 s 红杯侧躺在灰箱内，夹指与杯分开；log step 103 的备用录制脚本仅调用 mug_phase，log step 107 输出保存 243 个动作、progress=0.5，与评分字段 n_actions=243、final_reward=0.5 和本视频相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 4.1–6.3 s，Franka 末端 Robotiq 两侧夹指伸入红杯并张开抵住相对内壁，以内撑式抓握承载杯子；视频 6.3–13.5 s 持杯搬运，随后夹指收拢退出杯口释放。腕部视角可见两侧夹指在杯内的对向接触；log step 74 的 mug_phase 代码与此动作一致。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红碗在桌面左侧、灰箱外。" + }, + { + "t": 16.2, + "log_step": 103, + "text_zh": "观察：已检查视频全程及视频 15.3–16.2 s 的结尾，红碗始终留在桌面原处，机器人仅接近和搬运红杯，从未接近、接触或移动红碗。log step 103 的备用录制脚本在 reset 后仅调用 mug_phase，未调用 bowl_phase；log step 108 的 agent 最终报告也说明交付文件只有杯子入箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowl_in_bin", + "t": null, + "log_step": 103, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–16.2 s 机器人仅操作红杯，红碗一直在箱外桌面；视频约 14.5 s 起机器人夹爪停在箱上方，未开始取碗。log step 103 明确录制并保存只运行 mug_phase 的备用轨迹，log step 107 确认保存 243 个动作；碗步骤在评分轨迹中从未启动，无法给出某个抓碗失败的瞬间。" + }, + "unmet": { + "mug_in_bin": true, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 103, + "evidence_zh": "观察：视频全程 0.0–16.2 s 红碗都停在灰箱外的桌面，机器人搬完红杯后没有开始取碗；log step 103 的交付录制只调用 mug_phase。此前日志中的碗抓取测试未包含在评分视频内。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：会话中的碗搬运控制未能可靠奏效，导致最终仅交付已能运行的杯子动作。依据是 log step 42 的多组碗沿夹取测试中，夹爪抬升后夹爪角度均到 0.785，碗多仍在桌面高度附近；log step 81 的完整程序新进程测试在 bowl_phase 后报告 progress=0.0、碗位置仍在箱外，log step 94 的三组抓取高度变化也全部报告碗进度 0.0；随后 log step 103 只录制 mug_phase，log step 108 的 agent 自述碗抓取无法复现并承认交付仅有杯子。该归因使用会话测试解释交付缺少碗动作，不把这些测试算作评分轨迹内的失败现象。", + "source_zh": "日志", + "note_zh": "只能确定碗搬运控制未形成可靠方案；缺少对应测试的逐帧接触和受力记录，不能进一步区分抓取接触设计、轨迹跟踪或其他控制细节。" + } + ], + "gap_zh": "没有状态日志和成功参考视频，杯子首次进入灰箱投影区域的时刻按三视角视觉估计，误差约 0.3 s；精确凸包质心和夹指接触标志无法逐帧复核。碗抓取失败只见于会话测试的数值输出和 agent 自述，评分视频完全没有抓碗动作，故不标没保持住等接触现象，也不细分控制根因。" + }, + "summary_zh": "评分轨迹仅搬运红杯：视频约 9.3 s 杯子中心进入灰箱覆盖区域，视频约 13.7 s 松开后留在箱内，最终完成 1/2 个节点。红碗全程留在箱外桌面，断点为红碗入灰箱的首步前，现象为没尝试；会话测试反复未能可靠搬运碗，最终只录制了杯子备用轨迹。没有状态日志，入箱时刻为视觉估计，碗控制失败的具体机制无法由评分视频判定。", + "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（杯入箱约 9.3 s、碗未入、断点 bowl_in_bin 首步前/没尝试）与视频一致；但根因“控制”完全依据 agent 会话中的测试数值和自述，而评分视频里没有任何抓碗动作，这类证据不能算数，且 TAXONOMY §6 禁止从“没尝试”反推根因，应清空根因并写 gap_zh。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频一致：红杯约 9.3 s 入箱并留在箱内，红碗始终在桌面，断点 bowl_in_bin / 首步前 / 没尝试正确。根因“控制”依据会话内碗抓取测试（log step 42/81/94），符合 docs/03_trajectory.md 与 CASES.md FAIL-22 允许的“评分局没尝试、会话反复未抓住→控制”，已在 note_zh 说明为推断且标明来源，第 1 轮异议不成立。", + "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": "2026-10-30T03:21:55Z", + "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/robolab-red-dishes-in-bin-i00-privileged--m9bqqms/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--m9bqqms/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--m9bqqms/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--m9bqqms/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fa8ff99d110dfca2f8deed4195436bcd1fdee5a02f6d942bebddc4c710ebf63b", + "video_sha256": "c82f8ffed71aacf38a653b00657b4b4b4a3155938788cd00add091895885a843", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--mej4htu.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--mej4htu.json new file mode 100644 index 0000000000000000000000000000000000000000..cb92711c74140c9a6f329aa2f31e5988b148de31 --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--mej4htu.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-privileged--mej4htu", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 454, + "sim_steps": 484, + "final_reward": 0.0, + "replay_wall_s": 483.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 76, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.823, + "peak_memory_gb": 7.388, + "peak_processes": 12, + "peak_disk_gb": 0.108, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-red-dishes-in-bin-i00-privileged--mej4htu/replay.mp4", + "duration_s": 32.333, + "fps": 15.0, + "frames": 485, + "sha256": "43eecf94f15477c6fa24985e94a38afee4e8b79424aea41afc8aab6a253b2dfe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红杯直立在灰箱左侧桌面，杯体中心在箱口覆盖区域之外。" + }, + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：视频 6.6–7.2 s，机器人二指夹爪夹住杯沿并随抬升带动红杯；视频约 7.27 s，红杯突然翻转脱离夹爪，向桌前方飞出，视频 7.6 s 已离开静态相机画面，未进入右侧灰箱。" + }, + { + "t": 32.267, + "log_step": null, + "text_zh": "观察：视频约 9–13 s，机器人空爪移至灰箱上方并张开；随后没有重新拾取红杯，视频 31.25–32.27 s 的静态、肩部与腕部视角均显示灰箱内为空。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人末端 Robotiq 二指夹爪在红杯杯沿内外合拢夹持，并短暂带动杯体；视频约 7.27 s 杯体脱离，抓握没有保持到入箱。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红碗位于桌面左侧，与右侧灰箱分开。" + }, + { + "t": 21.4, + "log_step": null, + "text_zh": "观察：视频约 16–21.4 s，机器人下降至红碗碗沿、合拢夹爪，碗随夹爪短暂抬起并倾斜；视频约 21.6–22.0 s，碗已与上升的夹爪分开并落回原处附近桌面，未被搬向灰箱。" + }, + { + "t": 32.267, + "log_step": null, + "text_zh": "观察：视频约 26–29 s，机器人空爪移至灰箱上方并张开；视频 31.25–32.27 s 红碗仍在箱外左侧桌面，灰箱内为空。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人同一二指夹爪在红碗碗沿内外合拢，短暂夹起碗沿使碗离桌、倾斜，随后碗脱离并落回桌面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mug_in_bin", + "t": 7.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：机器人首先尝试抓取红杯，视频约 7.27 s 红杯在抬升阶段翻转飞离夹爪，未到达灰箱；后续机器人空爪执行入箱动作，再去抓碗，直到视频 32.27 s 都没有重新拾取红杯。这是最早未被修复的步骤失败。" + }, + "unmet": { + "mug_in_bin": false, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 7.3, + "log_step": null, + "evidence_zh": "观察：视频 6.6–7.2 s 红杯杯沿仍被二指夹爪夹住并随夹爪移动，视频约 7.27 s 杯体突然翻转、与夹爪分离并飞向桌前方；机器人随后空爪前往灰箱。失去杯体发生在搬运前的抬升阶段。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.3, + "log_step": 156, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 156 的最终录制脚本在红杯杯沿闭爪后，持续发送闭爪指令并同时向上及横向推进末端，再搬向灰箱；脚本计划到箱上方后才张爪。视频 6.6–7.3 s 与这一动作次序一致，却在抬升中失去杯体，说明该夹持与抬升控制未能稳定带走红杯。现有证据不足以细分为接触几何、轨迹跟踪或夹持力问题。" + } + ], + "gap_zh": "无逐帧状态日志、接触力或夹指接触对，无法确定红杯突然脱离的具体动力学机制，因此根因仅标到“控制”。红杯飞离后最终落点不在画面内，但已检查后续与末尾视频，未见其被取回，灰箱一直为空；两个入箱节点的未达成可由画面判断。日志中的早期测试与多次重置属于会话调试，未当作评分轨迹进度。" + }, + "summary_zh": "机器人依次尝试红杯和红碗，两件都没有进入灰箱，终态为 0/2。首个未修复断点是红杯入灰箱：视频约 7.27 s 红杯在闭爪抬升时脱离飞出；红碗随后也只被短暂提起便落回桌面，视频 32.27 s 灰箱仍为空。夹持与抬升控制失败有视频及最终录制脚本支持，但没有状态与接触力日志，无法进一步确定控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧支持标签：红杯 7.1 s 仍在桌面、7.3 s 在空中翻飞、7.6 s 离开画面；红碗 21.4 s 被夹起倾斜后落回；灰箱始终为空，0/2、断点 mug_in_bin 正确。现象“没保持住”与根因“控制”有帧和最终脚本（log step 156/157）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": "2026-10-30T02:49:56Z", + "review_prompt": 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a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--qbssfzw.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--qbssfzw.json new file mode 100644 index 0000000000000000000000000000000000000000..8b6d6353f5f8b80e14a8c0b18bba485114cf9dbf --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--qbssfzw.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-privileged--qbssfzw", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 720, + "sim_steps": 720, + "final_reward": 0.5, + "replay_wall_s": 673.9, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 20, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.481, + "peak_memory_gb": 16.341, + "peak_processes": 18, + "peak_disk_gb": 0.25, + "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/robolab-red-dishes-in-bin-i00-privileged--qbssfzw/replay.mp4", + "duration_s": 48.067, + "fps": 15.0, + "frames": 721, + "sha256": "0c9f3dcdcad5e5bfa54eb9da4fa4797a1854988fa8fdf5bdaa8b9ed6c672a228" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [ + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红杯在灰箱外的桌面上；视频 7.0–12.5 s 机器人二指夹爪夹住杯壁并将杯子抬离原位置。" + }, + { + "t": 14.5, + "log_step": null, + "text_zh": "观察：视频 14.0–15.0 s 机器人持杯横移至灰箱开口上方，约视频 14.5 s 杯子主体中心进入开口覆盖区域，此时仍由夹爪夹持；该节点允许持物时成立，时间为视觉估计，约有 0.5 s 不确定度。" + }, + { + "t": 19.5, + "log_step": 52, + "text_zh": "观察：视频 18.0–19.5 s 机器人松开红杯并抬起空夹爪，红杯留在灰箱内；视频 20.0–48.0 s 的抽帧及视频 47.0–48.0 s 的密集末段画面均显示红杯仍在箱内。log step 52 的原录制结果记载 720 步、progress=0.5，log step 74 确认恢复提交该 720 步文件；此日志结果与视频吻合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–18.0 s，Franka 单臂末端 Robotiq 二指夹爪从杯壁内外两侧夹住红杯，抬起并搬到灰箱上方后松开。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.6, + "log_step": 50, + "text_zh": "观察：视频 27.0–30.6 s 机器人下降至红碗近侧碗沿，腕部画面显示两夹指在碗壁内外合拢；视频 31.0–33.0 s 夹爪上升时与碗沿脱开，红碗留在箱外桌面。log step 50 的提交轨迹脚本先夹碗再执行抬升和入箱动作，与这段操作次序一致。" + }, + { + "t": 40, + "log_step": 53, + "text_zh": "观察：视频 36.0–44.0 s 机器人空夹爪移动到灰箱上方并张开，红碗仍在原桌面位置；视频 47.0–48.0 s 密集末段和视频 48.0 s 末帧显示红碗始终在箱外。log step 53 对原录制的检查也记录碗 lifted=False；未将后续会话试验计入节点进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 29.5–31.0 s，Robotiq 二指夹爪在红碗近侧碗沿内外合拢夹持；随后夹爪上升，碗沿从两指之间脱出，未完成搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowl_in_bin", + "t": 31.5, + "log_step": 53, + "where": "操作中", + "evidence_zh": "观察：视频 29.5–31.0 s 机器人夹住红碗近侧碗沿，约视频 31.5 s 开始抬升时夹爪与碗脱开，视频 32.2–35.0 s 红碗留在箱外桌面；此后机器人空夹爪执行入箱和退回动作，直到视频 48.0 s 均未重新抓取红碗。log step 53 的原录制检查记载碗 lifted=False，log step 74 确认最终提交恢复的 720 步轨迹。" + }, + "unmet": { + "mug_in_bin": true, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 31.5, + "log_step": 53, + "evidence_zh": "观察：视频 30.6 s 腕部画面显示两夹指在红碗近侧碗壁内外合拢；视频 31.0–32.2 s 夹爪抬升并进一步闭拢，碗沿从指间脱出，红碗没有随夹爪完成抬升而留在桌面。视频 33.0–35.0 s 可见夹爪已空，之后也没有补抓。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 31.5, + "log_step": 43, + "evidence_zh": "推断：选用的碗沿夹持几何未能形成可承载的抓握。log step 43 的 pick 函数规定以径向夹住单侧器壁并竖直抬升，log step 50 对红碗沿用该抓法；视频 30.6–32.2 s 显示夹爪夹在外张的碗壁处，抬升时两指闭合而碗沿脱出。log step 53 的原录制检查记录碗抬升失败，支持该接触设计未能 保持红碗；没有已验证的可行替代抓法。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或力、接触传感记录，无法定量确认夹持力与摩擦；碗沿夹持在抬升时失效可由多视角连续画面判断，具体接触设计根因仍含推断。没有成功示范，也未验证其他合法抓法是否可行；不采纳 agent 在 log step 78 中关于所有抓法均不可行的自述作为环境无解的证据。" + }, + "summary_zh": "评分轨迹将红杯于约视频 14.5 s 移入灰箱开口覆盖区域，随后松开并保持到视频 48.0 s，最终完成 1/2 个节点。红碗在约视频 31.5 s 的碗沿夹持抬升中脱开，后续为空夹爪入箱动作，断点为红碗入灰箱；证据支持抓取和接触设计不足。最终提交的是 log step 74 恢复的 720 步文件，后续搬箱试验不属于评分轨迹；没有状态及力记录，具体摩擦与夹持力机制无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点时间、终态、接触与断点（红碗入灰箱，抓握后抬升脱开）与视频一致；但标签多处把 log step 53 说成“原录制检查记录碗 lifted=False”，该步实为 s.reset() 之后的会话抓取试验（trial D），不是评分轨迹，属于把会话试验当作评分轨迹事实；应改引用 log step 50/52 中原录制自身的读数。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "红杯约视频 14.5 s 入箱并保持到结束，红碗始终在箱外，断点为红碗入灰箱（夹持抬升脱开），与视频及评分结果 0.5 一致。上一轮对 log step 53 的质疑已被日志编号（log_step=steps[].id）否证：id 53 是原录制检查，含 s.reset() 的试验是 id 55。", + "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": "2026-10-30T03:22:35Z", + "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/robolab-red-dishes-in-bin-i00-privileged--qbssfzw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qbssfzw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qbssfzw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-privileged--qbssfzw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37155c36ece45265b7df24804fd4cd722069922c04adff3af6cec220ce50bfb1", + "video_sha256": "0c9f3dcdcad5e5bfa54eb9da4fa4797a1854988fa8fdf5bdaa8b9ed6c672a228", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--zeojfj6.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--zeojfj6.json new file mode 100644 index 0000000000000000000000000000000000000000..5cc4466fbed19c7bcf736c384e2541e2b92fab7a --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-privileged--zeojfj6.json @@ -0,0 +1,203 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-privileged--zeojfj6", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 454, + "sim_steps": 454, + "final_reward": 0.0, + "replay_wall_s": 284.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 102, + "agent_sim_steps": 0, + "agent_records": 118, + "agent_replays": 8, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-red-dishes-in-bin-i00-privileged--zeojfj6/replay.mp4", + "duration_s": 30.333, + "fps": 15.0, + "frames": 455, + "sha256": "bf6c1a2af983674c8038e55c046ea8b856aeeb478c4cbefdb0899c1f1a73a75f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红杯立在灰箱外的桌面上。视频 4.0–8.07 s，机器人二指夹爪夹住杯把并将红杯提离桌面，杯子仍在箱外。" + }, + { + "t": 8.13, + "log_step": null, + "text_zh": "观察：视频 8.13 s 红杯翻转并飞离机器人夹指，视频 8.20 s 的侧视图显示杯子向灰箱相反一侧飞走；随后机器人空爪移向灰箱。视频 29.33–30.27 s 逐帧可见灰箱内没有红杯，机器人未再取回杯子。" + }, + { + "t": null, + "log_step": 263, + "text_zh": "观察：log step 259 的保存脚本在未成功时选择历史 bowl_inbin_candidate；log step 263 输出 FINAL_ARTIFACT 454，所附实时状态却是另一条 293 步试验。该实时试验中杯子入箱的记录不能作为评分视频中杯子入箱的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人 Robotiq 二指夹爪实际夹持红杯杯把，短暂提起杯子；杯子随后脱离夹指，未被带入灰箱。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红碗位于灰箱外；视频 0.0–24.0 s 红碗一直留在原桌面位置。" + }, + { + "t": 27.4, + "log_step": null, + "text_zh": "观察：视频 25.0–26.87 s，机器人夹爪在红碗靠灰箱一侧的碗沿闭合；视频 27.0–27.4 s 红碗离开原位，随夹爪上升并向灰箱移动，但碗主体仍偏在箱口外侧。" + }, + { + "t": 27.6, + "log_step": null, + "text_zh": "观察：视频 27.47–27.67 s，红碗与机器人夹爪分离，翻转后向箱后方飞出画面；侧视图的短暂重叠不能单独证明碗中心已进入箱体上方区域。视频 28.0–30.27 s，原碗位置和灰箱内部均为空，机器人没有再次持碗。" + }, + { + "t": 30.27, + "log_step": null, + "text_zh": "推断：结合视频 27.4–27.67 s 的两路固定相机，碗在主体中心进入灰箱开口区域前脱离夹爪并向后上方飞走，没有可确认的入箱区间；视频最后一秒箱内持续无碗，终态为未入箱。" + }, + { + "t": null, + "log_step": 240, + "text_zh": "观察：log step 240 从会话历史记录中提取了碗在箱内的一段候选动作；log step 259、263 显示最终保存该 454 步候选。评分视频 27.67–30.27 s 的碗飞离、箱内为空与该会话终态不同，因此按评分视频标注，不沿用会话中的碗入箱结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人二指夹爪实际夹住红碗一侧碗沿并短暂提起搬运，随后碗脱离夹爪飞走。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mug_in_bin", + "t": 8.13, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 8.07 s 红杯仍由机器人夹指夹住杯把并悬于箱外；视频 8.13–8.20 s 杯子突然翻转飞离夹爪。机器人随后空爪执行到箱上方的动作，并在视频 24.0–27.67 s 转而处理红碗，直到视频 30.27 s 都没有修复红杯入箱这一步。" + }, + "unmet": { + "mug_in_bin": false, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 8.13, + "log_step": null, + "evidence_zh": "观察：视频 7.8–8.07 s 红杯杯把在机器人二指夹爪中，杯身已悬空；视频 8.13 s 杯身急转，视频 8.20 s 杯子已与夹爪完全分离并飞离工作区。丢失发生在抬升、搬运过程中，尚未到灰箱内，也未到箱上方的计划松手位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 7.8–8.20 s 显示机器人已夹住杯把并提起红杯，但继续抬升时无法维持杯把与夹指的相对位姿，杯子急转飞走，表明该次抓持与抬升控制未能稳定承载杯子。视频 8.33–17.0 s 机器人继续空爪移向灰箱，未纠正丢杯；现有证据只能定位到控制层，无法进一步确定接触几何、指令跟踪或具体参数。" + } + ], + "gap_zh": "没有逐帧状态日志或接触力记录，无法精确恢复杯子脱离夹指的力学原因。红碗在视频 27.47–27.60 s 高速飞离，主体中心相对灰箱凸包边界的精确位置没有状态数据可核对，未观察到可确认的入箱区间；其终态及红杯终态均由最后一秒的空箱画面和此前飞离过程判断。会话历史中碗入箱、末次试验中杯子入箱的记录均不等于本次评分视频的结果。" + }, + "summary_zh": "评分轨迹先夹住红杯杯把并抬起，但在视频约 8.13 s 丢失红杯，随后未再修复；再夹起红碗时，红碗也在视频约 27.5 s 飞离夹爪，终态两件均不在灰箱内，完成 0/2 个节点。首个未修复断点为红杯入灰箱，现象是没保持住，证据支持抓持与抬升控制失败；没有状态与力记录，无法细分根因或精确核对红碗高速飞离时的凸包边界，会话试验结果未计入评分进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽帧核对：红杯在 8.13 s 前后被夹住后飞离，红碗约 27.5 s 飞离，终态箱内无红杯红碗，两节点 false、断点 mug_in_bin、现象没保持住均有帧支持；未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3492, + "sim_steps": 3492, + "physics_steps": 27936, + "steps": 604, + "elapsed_s": 2792.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-red-dishes-in-bin-i00-standard--aqu6hmq/replay.mp4", + "duration_s": 232.867, + "fps": 15.0, + "frames": 3493, + "sha256": "018cdbcaadecf90d4a37e14e6c8b5142b904fb7d65430ae592a01f384df486cb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [ + [ + 49.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红杯位于桌面中部、灰箱外；红碗位于桌面另一侧。" + }, + { + "t": 49.0, + "log_step": 90, + "text_zh": "推断：视频 47.0、48.0、49.0、50.0、51.0 s 的桌前、肩部和腕部视角显示，机器人持续持杯横移，红杯主体中心约在视频 49.0 s 进入灰箱开口向上延伸的区域，时刻估计误差约 0.5 s；此时杯底仍高于箱沿，按 DAG 的容纳判据已计入。" + }, + { + "t": 60.0, + "log_step": 90, + "text_zh": "观察：视频 55–63 s 机器人将红杯降入灰箱，收拢原先向外撑住杯内壁的夹指后抬手；视频约 60 s 可见红杯留在箱内且夹爪已与杯分开。" + }, + { + "t": 232.8, + "log_step": null, + "text_zh": "观察：视频 232.8 s 的末帧红杯仍直立在灰箱内，夹爪在箱外，之后未再搬动红杯。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 39–60 s，Robotiq 单夹爪的两侧夹指伸入红杯，以相对的杯内壁接触向外撑持杯身，杯子随夹爪离桌并被搬入灰箱；之后夹指收拢解除接触。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": 64, + "text_zh": "观察：视频 12.0–13.5 s 机器人二指夹住红碗靠机器人一侧的碗壁，红碗短暂随夹爪抬离桌面；视频 14.0 s 碗旋转并与夹指分离，视频 14.5–15.5 s 又落回桌面，始终在灰箱外。" + }, + { + "t": 108.0, + "log_step": 99, + "text_zh": "观察：视频约 18–25 s 的重夹未将红碗搬走；视频约 75–107.5 s 机器人再次以倾斜夹爪捏住碗壁，起升时碗翻转，视频约 108 s 脱离并落向桌外，未经过灰箱开口上方。" + }, + { + "t": 130.0, + "log_step": null, + "text_zh": "观察：视频 130.0 s 腕部相机越过桌边后显示红碗留在瓷砖地面上；其后抽查至视频 220 s 未见机器人重新抓起红碗，视频 232.8 s 箱内仍只有红杯，红碗未入箱。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 10–14 s，Robotiq 两夹指分别接触红碗单侧碗壁的内外面并夹住，短暂抬起后滑脱；视频约 20–24 s 和 80–108 s 继续捏夹该碗壁，最后一次起升伴随碗翻转、脱离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowl_in_bin", + "t": 14.0, + "log_step": 64, + "where": "操作中", + "evidence_zh": "观察：视频 13.5 s 红碗随机器人夹爪短暂离桌，视频 14.0 s 从夹指间转出并落回桌面。这是红碗入箱步骤第一次未被修复的抓取失稳；机器人后来完成红杯入箱并继续重夹红碗，但视频约 108 s 红碗掉到桌外，视频 130.0 s 腕部相机看见碗在地面，直到视频 232.8 s 仍未入箱。" + }, + "unmet": { + "mug_in_bin": true, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 14.0, + "log_step": 64, + "evidence_zh": "观察：视频 13.5 s 红碗已随夹爪抬离桌面，视频 14.0 s 碗转动并脱离夹指，视频 14.5 s 回到桌面；接触曾经建立但未能持续承载。视频约 107–108 s 后续重试再次翻转脱离并落到桌外，始终没有一次完成碗的搬运。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：机器人用二指仅捏住红碗一侧的斜壁，接触布局未能在起升时稳定约束碗的转动：视频 12.5–14.5 s 显示壁面被夹住、碗短暂抬起后旋转滑出；log step 60 的脚本明确在单侧碗壁布置内外夹指，log step 64 保持闭合命令起升后夹爪开度由约 0.013 m 变为约 0.0018 m，与视频脱离一致。log step 97、99 改用倾斜捏壁，视频约 107–108 s 仍翻转脱离，因此归于局部抓取承载设计；没有验证过可成功的替代抓法。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志或接触力记录，红杯首次进入灰箱凸包延伸区域的时刻由多视角估计，误差约 0.5 s；不能确定红碗滑脱的具体摩擦、接触力或夹爪弹性能机制，也未验证替代抓法。agent 在 log step 166 对夹爪储能及掉落后不可达的解释仅为其自述，不据此判定环境问题或另加够不着现象。" + }, + "summary_zh": "红杯约在视频 49.0 s 进入灰箱向上延伸的容纳区域，随后落入箱内并脱离夹爪，至视频 232.8 s 仍保持；红碗从未入箱，终态完成 1/2 个节点。红碗在视频约 14.0 s 首次起升时滑脱，后续捏壁重试仍不稳并于视频约 108 s 掉到桌外，断点为红碗入箱，根因推断为抓取和接触设计未能稳定承载。没有状态及力日志，不能核实具体滑脱动力学或是否存在可行替代抓法。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "红杯入箱、红碗未入箱、断点为红碗入箱（首次抓取失稳）及根因均与抽查帧一致，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": "2026-10-30T02:43:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--mvnn4jk.json new file mode 100644 index 0000000000000000000000000000000000000000..693d75280ef617fe7f963ac936738eee981310b4 --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--mvnn4jk.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-standard--mvnn4jk", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 0, + "n_actions": 12817, + "sim_steps": 12817, + "physics_steps": 102536, + "steps": 871, + "elapsed_s": 5285.7, + "video_rendered": 0, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-red-dishes-in-bin-i00-standard--mvnn4jk/replay.mp4", + "duration_s": 854.533, + "fps": 15.0, + "frames": 12818, + "sha256": "3cb5a134a89e567d43b6e31cf6fd3f5c51a38499c540e5b4bbfafa822014a3ec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红杯直立在桌面中部，灰箱在其右侧，杯子主体中心在箱口外。" + }, + { + "t": 32.2, + "log_step": 62, + "text_zh": "观察：视频 31.2–32.6 s，机器人夹爪向上提拉杯沿，红杯随之倾斜，随后脱离夹指并回到箱外桌面；夹爪继续空载上升，未将杯子移至箱口覆盖区。log step 62 的脚本确实命令闭爪抬升；此处时间取自视频。" + }, + { + "t": 504.0, + "log_step": null, + "text_zh": "观察：视频 480.0–520.0 s，机器人多次在灰箱上方张开夹爪，但红杯仍留在箱外原桌面区域，没有随这些搬运动作进入箱内。" + }, + { + "t": 854.46, + "log_step": null, + "text_zh": "观察：视频后段至视频 854.46 s 末帧，红杯仍直立在香蕉与灰箱之间的桌面，灰箱已被移向桌侧，杯子主体中心明确在箱口外。全片抽查并细查操作段，未见红杯进入灰箱覆盖区。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.7–31.8 s，Franka 末端 Robotiq 二指夹爪夹住红杯杯沿局部，提拉时杯子随夹指倾斜，随后滑脱；夹持过程中也将杯子在桌面上拖移。后续重试仍由同一夹爪作用于杯口附近，视频 738.0–750.0 s 的低位动作还将灰箱推向桌侧。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，红碗在香蕉左上方的桌面，距离灰箱有明显横向间隔，主体中心在箱外。" + }, + { + "t": 550.0, + "log_step": null, + "text_zh": "观察：视频 528.0–560.0 s，机器人夹爪作用于红碗一侧碗沿，使碗逐渐倾斜、竖起，碗主体始终在原桌面附近，未移到灰箱上方；视频 567.0 s 夹爪已离开，碗仍在箱外。" + }, + { + "t": 720.0, + "log_step": null, + "text_zh": "观察：视频 585.0–639.0 s 和视频 678.0–723.0 s，机器人再次夹持碗沿、使碗倾斜，撤离后碗回落在桌面；全过程红碗中心未进入灰箱开口覆盖区。" + }, + { + "t": 854.46, + "log_step": null, + "text_zh": "观察：视频 828.0 s 后机器人又在红碗边沿操作；视频 853.53–854.46 s 片尾，红碗仍在香蕉左侧桌面，夹爪停在碗沿附近，灰箱在远侧且箱内为空。红碗最终仍在箱外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 525.0–560.0 s 的腕部视角显示 Robotiq 二指在红碗近侧边沿内外夹持，碗随夹爪动作逐渐倾斜；视频 585.0–639.0 s、视频 678.0–720.0 s 及片尾重复碗沿夹持，期间伴有推移、抬起一侧及滑回桌面的接触，没有完成向箱内的搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "mug_in_bin", + "t": 32.0, + "log_step": 62, + "where": "操作中", + "evidence_zh": "观察：视频 31.2–32.6 s，机器人在首次提杯动作中使杯子倾斜，杯子从闭合夹指处滑脱并回到箱外桌面，夹爪空载上升。后续虽多次重试并转而操作红碗，直到视频 854.46 s 红杯仍未入箱；这是最早失败且此后未完成的步骤。log step 61–62 记录的杯沿夹持及闭爪上提指令与这一段画面相符。" + }, + "unmet": { + "mug_in_bin": false, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 32.0, + "log_step": 62, + "evidence_zh": "观察：视频 31.4–31.8 s 红杯被闭合夹爪从局部杯沿提拉并倾斜；视频 32.0–32.4 s 杯子滑离夹指、回落直立在桌面，而机器人继续向上提空爪。先前已形成杯沿夹持，失效发生在抬升期间。" + } + ], + "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 61 的脚本把抓取中心设在杯轴旁一个杯沿半径处，合爪夹取局部杯壁；视频 9.7–31.8 s 的腕部视角也显示夹指仅夹住近侧杯沿，抬升时杯子相对夹指转斜，随后在视频 32.0–32.4 s 滑脱。这一局部杯沿夹持未能稳定承载杯子，支持抓取接触布局不稳；没有已验证成功的替代握法。" + } + ], + "gap_zh": "观察：inputs/ 中无状态日志、无成功示范；run.json 的评分器字段 deterministic=0、live_matches_replay=0，因此后段日志的抓取开度、点云入箱判断和 agent 自述不能直接替代视频中的物体位置。节点与断点均按所提供视频判定，仅用与早段画面吻合的 log step 61–62 辅助解释首次抓法；缺少接触力与逐帧物体状态，不能进一步确定滑脱的力学参数或验证替代握法。" + }, + "summary_zh": "红杯和红碗均未进入灰箱，两个节点最终为 0/2。首次抬杯在视频约 32.0 s 因局部杯沿夹持未保持住而失败，之后反复重试和碗沿操作均未修复，视频 854.46 s 两件餐具仍在箱外桌面。没有状态日志或成功示范，且评分器报告实时与回放不一致，故进度按视频判断，抓取接触设计的归因依据早段画面与相符脚本作出。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与标签一致：视频约 31–34 s 杯沿夹持提拉后杯子滑脱留在桌面，此后直到 854 s 红杯与红碗均在箱外；节点、断点、现象与根因均有证据支持。", + "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": "2026-10-30T03:03:07Z", + "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/robolab-red-dishes-in-bin-i00-standard--mvnn4jk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-standard--mvnn4jk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "da4bc10039f8c915715f4623697d95b1aedef01b551d8ad029a7f9f2b68ced6f", + "video_sha256": "3cb5a134a89e567d43b6e31cf6fd3f5c51a38499c540e5b4bbfafa822014a3ec", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--u3eeg92.json b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--u3eeg92.json new file mode 100644 index 0000000000000000000000000000000000000000..af21093a28016a5dc4d3acd922b31cf4c5de0382 --- /dev/null +++ b/phase2/robolab/red_dishes_in_bin/trajectories/robolab-red-dishes-in-bin-i00-standard--u3eeg92.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-red-dishes-in-bin-i00-standard--u3eeg92", + "taskKey": "robolab/red_dishes_in_bin", + "dag_sha256": "58421d4d9e8556cc12dd565aeb82fc1ce683166328d80ce1d155c050c93db8cb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 8370, + "sim_steps": 8370, + "physics_steps": 66960, + "steps": 980, + "elapsed_s": 5279.3, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-red-dishes-in-bin-i00-standard--u3eeg92/replay.mp4", + "duration_s": 558.067, + "fps": 15.0, + "frames": 8371, + "sha256": "95dcbdd0bc575976894ff91298ce2db205ba80dcb41f6a2bf7dec8a256700278" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "mug_in_bin": { + "method": "visual", + "intervals": [ + [ + 147.5, + 152.1 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开头红杯直立在灰箱左侧桌面上，主体中心在箱外。" + }, + { + "t": 147.5, + "log_step": 145, + "text_zh": "观察：视频约 144–151.8 s，机器人二指夹爪夹住杯把，红杯离开桌面随夹爪移动；视频 146.5 s 杯体尚在箱侧，视频 147.5 s、148.0 s 及 151.8 s 杯体中心已在灰箱开口覆盖区域上方。按本节点持物时也可成立的判据，约视频 147.5 s 达成，进入时刻有约 0.5 s 的视觉误差；log step 145 是对应的抬升和搬运指令。" + }, + { + "t": 152.1, + "log_step": 150, + "text_zh": "观察：视频 152.0 s 红杯仍在箱口上方；视频 152.13 s 机器人腕部急转，红杯脱离夹爪并向箱外飞出，随后视频约 152.5 s 离开可见操作区域，灰箱为空。log step 150 提交的是降下、张爪和回撤动作，不能用这条指令代替实际放置结果。" + }, + { + "t": 558.0, + "log_step": null, + "text_zh": "观察：红杯飞出后，后续视频中机器人一直操作红碗，未见取回红杯；视频 557.5 s 和最后一帧视频 558.0 s 灰箱内均没有红杯，入箱关系未恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂末端 Robotiq 二指夹爪先闭合尝试夹杯沿，后在视频约 144–152 s 夹住杯把，把红杯抬离桌面并搬到箱口上方；杯把可见位于两夹指之间。" + } + ] + }, + "bowl_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开头红碗正放在桌面左侧，与灰箱开口分离，主体中心在箱外。" + }, + { + "t": 9.5, + "log_step": 78, + "text_zh": "观察：视频约 8.3–9.0 s 机器人夹爪在红碗靠机器人一侧的碗沿闭合，两指分处碗壁内外；视频约 9.5–10.5 s 夹爪上提时碗沿脱出，碗仍留在桌面，随后机器人空夹移动。log step 73 提交下降闭合，log step 78 提交保持闭合的抬升及搬运，画面没有显示碗被搬入箱。" + }, + { + "t": 303.0, + "log_step": null, + "text_zh": "观察：视频约 175–308 s 的多次重试中，夹爪在红碗不同侧的碗沿闭合，碗被带斜、推移或短暂竖起后回落，主体中心一直在灰箱左侧桌面区域；空夹移动到灰箱上方不计红碗入箱。" + }, + { + "t": 558.0, + "log_step": 342, + "text_zh": "观察：后续视频约 320–530 s 机器人继续夹持和上提碗沿，红碗未移入灰箱，并在视频约 530 s 前后翻为倒扣；视频 553–558.0 s 末段及最后一帧，红碗仍倒扣在香蕉、魔方旁的箱外桌面，夹爪在碗侧。log step 342 的最后动作仅为下降和闭合，不能据此认定搬运完成。" + } + ], + "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在视频约 8.3–9.0 s 及后续重试中，从碗壁内外闭合夹住红碗碗沿；夹持多次只把碗带斜，未能持续承载搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：后续抓取重试中，机器人夹指接触碗壁、碗沿并使红碗在桌面横移；例如视频约 300–308 s 红碗被带斜后落回桌面并换了位置。这些推移与碗沿夹持依次发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowl_in_bin", + "t": 9.5, + "log_step": 78, + "where": "操作中", + "evidence_zh": "观察：视频约 8.3–10.5 s 机器人首次夹住碗沿后上提，碗沿从夹指间脱出，夹爪升起而红碗留在箱外桌面；此后虽多次重试，直到视频最后一帧 558.0 s 红碗仍在箱外。log step 73、78 分别为该次下降闭合和抬升搬运指令。红碗步骤是最早失败且此后从未完成修复的步骤。" + }, + "unmet": { + "mug_in_bin": false, + "bowl_in_bin": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 9.5, + "log_step": 78, + "evidence_zh": "观察：视频约 8.3–9.0 s 二指夹爪已在碗壁内外闭合接触碗沿；随后视频约 9.5–10.5 s 上提时，夹指与碗沿分离，红碗留在桌面，机器人空夹继续移动。后续视频约 300–308 s 也可见碗沿被夹起带斜后脱落，始终没有完成红碗入箱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频约 8.3–10.5 s 显示夹爪已经到达碗沿并闭合，但在上提中丢失夹持；log step 73 的脚本在碗沿闭合，log step 78 的上提全程仍命令夹爪闭合，脱开并非脚本计划松手。视频约 175–530 s 的多次换侧、倾斜夹持和上提重试仍无法稳定携带红碗，因此将失败归入接触保持方面的控制问题；现有证据不能可靠区分抓取几何、接触力与实际跟踪的贡献。" + } + ], + "gap_zh": "无状态日志或接触力记录，无法核验逐步凸包质心与夹指接触对；红杯入箱边界按三路视频估计，约有 0.5 s 误差。碗沿夹持丢失有画面支持，但不能据此确定摩擦、夹紧力、抓取几何或跟踪误差中的具体控制子类；红杯飞出后的最终落点不在相机视野内，其未恢复入箱由飞出过程、后续操作和空箱末帧共同判断。" + }, + "summary_zh": "机器人尝试了红碗和红杯两步：红杯约在视频 147.5–152.1 s 短暂进入灰箱上方的容纳区域，随后飞出，红碗始终未入箱，终态为 0/2。首次未修复的失败发生在视频约 9.5 s 的红碗抓取上提，碗沿夹持脱开；后续重试仍无法稳定搬运，归为控制问题。没有状态或接触力日志，具体控制子类及红杯跨越箱边界的精确时刻无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "红碗首次夹沿上提脱开（视频约 9.5 s）、碗终未入箱，红杯 147.5–152.1 s 短暂在箱口上方后飞出、末帧箱空，节点值、断点、现象与根因（分不出子类停在控制）均有帧支持。", + "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": "2026-10-30T02:52:39Z", + "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/robolab-red-dishes-in-bin-i00-standard--u3eeg92/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-red-dishes-in-bin-i00-standard--u3eeg92/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a79be96f8d8ff8797aad6312b77ee473d1c91fa0f3c64b69a17adb76c445aab9", + "video_sha256": "95dcbdd0bc575976894ff91298ce2db205ba80dcb41f6a2bf7dec8a256700278", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--9ymtcdk.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--9ymtcdk.json new file mode 100644 index 0000000000000000000000000000000000000000..078343f493bd92135fef7135f9826ec6ede17a21 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--9ymtcdk.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--9ymtcdk", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1426, + "sim_steps": 1426, + "final_reward": 0.5, + "replay_wall_s": 1475.7, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 4, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.279, + "peak_memory_gb": 14.171, + "peak_processes": 11, + "peak_disk_gb": 0.249, + "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/robolab-utensils-in-mug-i00-privileged--9ymtcdk/replay.mp4", + "duration_s": 95.133, + "fps": 15.0, + "frames": 1427, + "sha256": "50d4a04644447dbe56c7ff26308bf24a1be074915ade34dd062f3db115a41fb1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子横放在贝果盘上，与陶瓷杯分离。" + }, + { + "t": 45.3, + "log_step": null, + "text_zh": "观察：视频 43.2–44.8 s，机器人将张开的二指夹爪降至叉柄附近；视频 45.1–46.9 s 夹爪闭合，视频 47.7–55.0 s 夹爪抬起，但叉子未随夹爪离开原处，仍横放在贝果盘上。" + }, + { + "t": 95.067, + "log_step": null, + "text_zh": "观察：视频 55.0–95.067 s，机器人随后空手向杯子方向移动，叉子始终留在原来的贝果盘上；视频 94.0–95.067 s 的密集片尾帧也未见叉子入杯。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 43.2–47.7 s，执行尝试的作用端是机器人二指夹爪，目标为叉柄；夹爪闭合后空手抬起。闭合部位被夹爪本体遮挡，无法确认夹指是否短暂触到叉柄以及触碰方式，故不将空夹记为已发生的抓握。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [ + [ + 22.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.733, + "log_step": null, + "text_zh": "观察：视频 9.1–11.2 s，机器人二指夹爪在红碗上方闭合夹住勺柄；视频 11.7–15.5 s，勺子随夹爪抬升，勺头离开红碗，红碗此后为空。" + }, + { + "t": 22.5, + "log_step": null, + "text_zh": "推断：视频 21.0–23.8 s 的腕部视角显示机器人持勺向陶瓷杯移动，勺身逐渐横跨杯口，结合视频 24.0–30.8 s 的腕部与固定视角，估计勺子的中心约在视频 22.5 s 进入杯口沿向上延伸区域，起点不确定度约 1 s；节点允许持握时成立，因此不等到松手才计入。" + }, + { + "t": 31.733, + "log_step": null, + "text_zh": "观察：视频 31.3–32.2 s，机器人松开勺柄，勺子转为勺头朝上、柄部斜搭杯沿的姿态；视频 33.1–35.9 s 夹爪张开并撤离，勺子仍搭在杯口，红碗不再承接勺子。" + }, + { + "t": 95.067, + "log_step": null, + "text_zh": "观察：视频 35.9–95.067 s，勺子一直保持搭在陶瓷杯口的关系，视频 94.0–95.067 s 的片尾帧未见移出；评分器 final_reward=0.5，与仅勺子达到空间关系、叉子留在原处的画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 9.1–15.5 s，机器人单臂二指夹爪合拢夹住勺柄并把勺子从红碗提起，随后持勺移至陶瓷杯，视频 31.3–33.1 s 松开并撤离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 45.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 45.3 s，机器人在叉柄附近合拢夹爪；视频 47.7–55.0 s 抬手后，叉子仍留在贝果盘上。之后机器人空手执行朝杯子方向的运动，直到视频 95.067 s 都未重新抓起叉子，该步骤没有修复。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 45.3, + "log_step": null, + "evidence_zh": "观察：视频 44.8–46.9 s，机器人二指夹爪在叉柄附近从张开变为闭合；视频 47.7–55.0 s 夹爪抬起时，叉子没有跟随，也未发生先提起后掉落，所需的承载抓握没有建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 44.8–55.0 s 显示机器人到达叉柄附近后空夹，随后仍执行搬运动作。log step 57 的生成脚本只在夹爪开口大于 0.06 m 时判定空夹，log step 62 的候选记录却报告叉子闭合开口仅 0.0018 m，log step 68 同一候选的三次纠偏记录中叉子中心始终不变，agent 在该步也自述判空检查写反；这些会话证据与回放中的空夹后继续运输相符。抓取执行及失败检测未能建立和恢复有效夹持，归为控制；接触几何与低层轨迹误差不足以进一步区分。" + } + ], + "gap_zh": "没有状态日志或原生凸包包含谓词的逐帧记录，勺子进入杯口延伸区域的起点由视频估计，约有 1 s 不确定性；叉子抓取处的夹指接触面被遮挡，无法确定是否短暂碰触，contact_actual 因而记未知，但画面足以确定从未建立能把叉子提起的抓握。log step 77 保存了 1426 行备用轨迹，与评分器 n_actions=1426 一致；log step 63 之后修改的叉颈、叉齿抓取属于其他会话候选，未在本回放中出现，不计为已提交尝试的进度。" + }, + "summary_zh": "评分回放最终完成勺子入杯，叉子始终留在贝果盘上，节点终值为 1/2，与评分器 final_reward=0.5 一致。机器人在视频约 45.3 s 尝试夹取叉柄却未建立有效抓握，随后空手运输且未修复；视频与日志中的判空检查错误支持控制层面的归因。缺少逐帧状态与接触记录，勺子达成关系的起点约有 1 s 不确定性，叉子处的短暂触碰方式无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "勺子入杯（约视频 22.5 s 起，终值成立）与叉子未入杯（视频 43–61 s 夹爪在叉柄端合拢后空手离开，叉子始终在贝果盘上，视频 50 s 后位置与 40 s 相同）均与画面和 final_reward=0.5 一致；断点、没建立接触和控制根因有证据支持，未发现需要改内容的错误。", + "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": "2026-10-30T03:30:37Z", + "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/robolab-utensils-in-mug-i00-privileged--9ymtcdk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--9ymtcdk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9094296ce84cb3441ad753b33b5da4848fa4fe4a893af151ad4bb90b51d60881", + "video_sha256": "50d4a04644447dbe56c7ff26308bf24a1be074915ade34dd062f3db115a41fb1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--gt6lh9a.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--gt6lh9a.json new file mode 100644 index 0000000000000000000000000000000000000000..666b085d65714add0adea47ef3c70247bfc70e76 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--gt6lh9a.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--gt6lh9a", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 743, + "sim_steps": 743, + "final_reward": 1.0, + "replay_wall_s": 657.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 5, + "agent_sim_steps": 4365, + "agent_records": 5, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-utensils-in-mug-i00-privileged--gt6lh9a/replay.mp4", + "duration_s": 49.6, + "fps": 15.0, + "frames": 744, + "sha256": "0d7960836220cc9e11fc6d97445c81866a51534c055c45363e9e85043d8d9e04" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [ + [ + 15.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子仍在贝果盘上，陶瓷杯口为空；视频 8.7–12.0 s，机械臂二指夹爪夹住叉颈并将叉子抬离原盘，叉子随夹爪移动。" + }, + { + "t": 15.3, + "log_step": null, + "text_zh": "推断：视频 14.0–16.0 s 的连续多视角画面中，机械臂把近乎竖直的叉子从盘上方移向杯口上方，约视频 15.3 s 叉身中部进入杯口沿杯轴向上延伸的区域；按节点允许持物和无限向上延伸的判据，此时开始计入。无凸包中心状态记录，首次边界穿越时间约有 0.5 s 不确定性。" + }, + { + "t": 26.7, + "log_step": null, + "text_zh": "观察：视频 16.0–25.6 s，机械臂继续在杯口上方持叉、转腕并降低叉子；视频 26.1–27.7 s 夹爪张开，叉子落至杯口并横搭其上；视频 28.3–49.53 s，夹爪离开后叉子一直横跨杯口，未移回原盘。" + }, + { + "t": 49.53, + "log_step": 156, + "text_zh": "推断：视频 49.53 s，叉子横跨杯口，夹爪已张开且离开餐具；评分器 reward.success=1、all_success=1、deterministic=1，结合 log step 136 与 log step 156 的两次同一交付轨迹重放均成功且末态哈希一致，确认叉子末态满足原生入杯判据。横搭杯口且叉齿露在杯外不构成该节点的丢失。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.7–12.0 s，单臂末端二指夹爪从两侧夹住叉颈，叉子离开贝果盘并随夹爪抬升；随后机械臂将叉子搬到杯口、转腕调平，约视频 27 s 张开夹爪释放。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [ + [ + 46.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，勺子由红碗承接，尚未到陶瓷杯；视频 36.0–39.3 s，机械臂二指夹爪在勺柄两侧闭合，视频 40.0–43.2 s 勺头离开红碗并悬在夹爪下方，红碗内不再有勺子。" + }, + { + "t": 46.0, + "log_step": null, + "text_zh": "推断：视频 45.3–46.4 s，机械臂把悬垂的勺子横移到已有叉子的杯口上方，约视频 46.0 s 勺身中部进入杯口沿杯轴向上延伸的区域；节点允许仍被夹持，故不等到松手才计入。首次进入时刻根据多视角估计，约有 0.5 s 不确定性。" + }, + { + "t": 49.53, + "log_step": null, + "text_zh": "观察：视频 47.5–49.3 s，机械臂把勺子降低到杯口，叉子仍横搭杯沿；视频 49.47–49.53 s 夹爪张开，勺子下落至杯口内，勺柄露出，红碗保持空置。" + }, + { + "t": 49.53, + "log_step": 156, + "text_zh": "推断：末帧视频 49.53 s 的勺子位置与评分器 reward.success=1、all_success=1 一致；log step 136 与 log step 156 报告最终交付的 743 个动作重放均成功且末态哈希相同，确认末态勺子和叉子同时满足入杯关系且两根夹指均脱离。视频在成功释放时结束，不另加静置时间要求。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 38.0–40.7 s，单臂末端二指夹爪夹住勺柄并将勺子从红碗中提起；机械臂持勺移到陶瓷杯口并下降，视频 49.47–49.53 s 张开夹爪释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分视频中机械臂先从贝果盘夹起叉子并横放在杯口，再从红碗夹起勺子移至杯口，视频 49.47–49.53 s 松开勺子；评分器 success=1、all_success=1，两个目标节点末态均成立，无失败断点。推断：按允许持物且沿杯轴无限向上延伸的原生空间判据，叉子和勺子分别约在视频 15.3 s、46.0 s 首次达成，不能把横搭的叉子误判为未入杯。证据缺口：无状态日志，凸包中心的精确边界穿越只能由画面估计；本任务的 oracle 与本运行相同，没有独立参考视频。", + "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，两个目标节点均达成、无失败断点；叉子约视频 15.3 s、勺子约 46.0 s 的首次达成与画面一致，接触标注（单臂二指夹爪抓握）符合画面，时间均为视频时钟，log step 136/156 存在。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": "2026-10-30T02:51:52Z", + "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/robolab-utensils-in-mug-i00-privileged--gt6lh9a/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--gt6lh9a/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "93395d87a78a4afa00ef76ad5f71060551a933743fb2e6d4f6a51836c3c7301b", + "video_sha256": "0d7960836220cc9e11fc6d97445c81866a51534c055c45363e9e85043d8d9e04", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--jhfpbyl.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--jhfpbyl.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f8d4388472809b64b3abcec2a23a0167bb29e0 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--jhfpbyl.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--jhfpbyl", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 557, + "sim_steps": 557, + "final_reward": 0.0, + "replay_wall_s": 914.0, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 7, + "agent_resets": 8, + "agent_sim_steps": 3977, + "agent_records": 9, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-utensils-in-mug-i00-privileged--jhfpbyl/replay.mp4", + "duration_s": 37.2, + "fps": 15.0, + "frames": 558, + "sha256": "d47893a2f84df0b3dad9097e91c961390683db2a2d848253e08060c923eb7e1b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [ + [ + 18.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.7, + "log_step": null, + "text_zh": "观察：视频 14.3–16.0 s，机器人二指夹爪夹住叉身，叉子随夹爪上升并离开贝果盘；腕部画面中叉柄与夹爪保持固定相对位置，随后一起移向陶瓷杯。" + }, + { + "t": 18.0, + "log_step": null, + "text_zh": "推断：视频 17.7–18.3 s 的正面、肩后及腕部画面合看，机器人将横持的叉身中部移到陶瓷杯口上方，叉齿与叉柄分别向两侧伸出；按 DAG 沿杯子向上轴延伸且持握也可成立的空间判据，约从视频 18.0 s 计入，起点约有 0.5 s 不确定性。" + }, + { + "t": 37.13, + "log_step": null, + "text_zh": "观察：视频 20.0–36.0 s 抽帧以及视频 36.2–37.13 s 密集末帧中，叉子保持在杯口上方同一位置，机器人夹爪仍闭合夹持叉身，没有放下或松开的动作；此节点只判空间关系，联合验收要求的脱离夹指尚未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂末端的二指夹爪闭合夹住银色叉身，将叉子从贝果盘提起并横持运至杯口上方，至视频 37.13 s 仍在夹持。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金属勺的勺头在红碗内，勺柄搭向碗沿，陶瓷杯内没有勺子。" + }, + { + "t": 37.13, + "log_step": null, + "text_zh": "观察：视频 0.0–36.0 s 全程每隔约 2 s 抽帧及视频 36.2–37.13 s 密集末帧中，勺子始终留在红碗原位；机器人只操作叉子，未接近、夹持或搬运勺子。" + }, + { + "t": null, + "log_step": 136, + "text_zh": "观察：log step 136 核对最终交付文件为 557 行动作、partial=true；log step 130 的 agent 自述将来要使用此前成功的勺子抓法。评分视频中没有该勺子搬运动作，不能将其他重置试验的结果计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 18.5, + "log_step": 134, + "where": "操作中", + "evidence_zh": "观察：视频约 18.5 s 起，机器人持叉停在杯口上方附近，随后机械臂姿态继续缓慢变化，但叉子和夹爪几乎不再位移；至视频 37.13 s 仍未松爪，也未转去操作勺子。log step 134 显示 saved partial (557, 8)，log step 136 确认这就是最后的交付文件。失败落在叉子放置流程的操作中，空间节点虽已计入，联合脱离验收尚未完成。" + }, + "unmet": { + "fork_in_mug": true, + "spoon_in_mug": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 82 展示的生成脚本将两次 move_ee 搬运/下降安排在 open_gripper 之前，并在异常分支中保存 partial=true 的轨迹；最后一轮 log step 127–128 报告叉子夹起，log step 134–136 却只保存了 557 行部分轨迹。结合视频 18.5–37.13 s 持叉末端基本停滞、机械臂仍缓慢调整且没有进入松爪阶段，支持搬运控制流程未完成而中止，归为控制；未见本轮具体异常栈，不细分逆解、跟踪或参数原因。", + "note_zh": "推断：候选：控制脚本异常（agent 自己的 gen.py 在叉子搬运阶段异常中止；依据 log step 82 的异常保存分支及 log step 134/136 的 partial 记录推断，具体异常未见）。按 DECISIONS.md D38 / CASES.md OPEN-29 的当前处理保留控制·控制。" + } + ], + "gap_zh": "未提供状态日志或逐节点原生凸包判据；叉子在杯口向上延伸区域内的关系由多视角位置推断，约视频 18.0 s 的起点有约 0.5 s 不确定性。观察：视频 18.5–37.13 s 机器人持续持叉停在杯口上方，未出现松爪尝试或搬勺子动作；log step 134 显示 saved partial (557, 8)，log step 136 确认交付文件 partial=true。推断：交付轨迹在叉子搬运流程中中止，尚未执行后续松爪和勺子动作；末段持叉停滞不能据此标作一次松爪失败，按 docs/03_trajectory.md Step 3 与 CASES.md FAIL-23 将现象层留空。log step 133 的输出被截断，未见本轮具体异常栈；脚本异常根因仍为日志推断，按 DECISIONS.md D38 / CASES.md OPEN-29 的当前处理标控制并记录候选名，不细分异常类型。" + }, + "summary_zh": "机器人夹起叉子并将其移到杯口上方，按允许持握的空间关系判据记叉子入杯，末态为 1/2；勺子始终留在红碗内，未被操作。交付的是 partial=true 的部分轨迹，叉子放置流程在释放前中止；视频没有松爪尝试，现象层留空，根因按 D38 当前处理记控制，候选为控制脚本异常。没有原生几何状态或本轮具体异常栈，叉子空间关系与控制归因含视觉及日志推断，置信度保持为六。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（叉子入杯 1/2、勺子未入）与视频一致；但失败层有两处问题：'没松开'描述的是交付轨迹里根本不存在的动作（轨迹被异常中止、partial=true），控制根因缺 D38 约定的候选名。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "叉子被夹持移到杯口上方（约18 s起，至37 s不变）、勺子始终在红碗内，节点值与时间合理；断点、控制根因（D38候选）和空现象层符合规则。", + "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": "2026-10-30T03:25:34Z", + "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/robolab-utensils-in-mug-i00-privileged--jhfpbyl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--jhfpbyl/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--jhfpbyl/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--jhfpbyl/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "67e63efb52bcbe38cc7d792769c5930ee313d08e54665d381f78c94702fc4112", + "video_sha256": "d47893a2f84df0b3dad9097e91c961390683db2a2d848253e08060c923eb7e1b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--nunvo5v.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--nunvo5v.json new file mode 100644 index 0000000000000000000000000000000000000000..362821f5ce74edb40d7bc8522e03a97dcbe45e37 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--nunvo5v.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--nunvo5v", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 478, + "sim_steps": 508, + "final_reward": 0.0, + "replay_wall_s": 753.8, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 23, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.158, + "peak_memory_gb": 8.197, + "peak_processes": 12, + "peak_disk_gb": 0.013, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-utensils-in-mug-i00-privileged--nunvo5v/replay.mp4", + "duration_s": 33.933, + "fps": 15.0, + "frames": 509, + "sha256": "5577c9501988c9d3e0d46f5293f52a9a3d8210e9d618f1ce1df0ca112a441b39" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [ + [ + 13.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，银色叉子仍在贝果盘上，陶瓷杯为空；视频约 4.0–10.0 s，二指夹爪夹住叉柄并把叉子抬离原盘，向杯子搬运。" + }, + { + "t": 13.6, + "log_step": null, + "text_zh": "观察：视频 13.2–14.0 s，机器人在杯口旁张开夹爪，叉子转落并横搭杯口，宽柄伸入杯口、叉齿露在杯外；视频 14.0–24.0 s 及视频 33.8 s 的外部视角显示它一直留在该处。" + }, + { + "t": 13.6, + "log_step": null, + "text_zh": "推断：按叉身跨过杯口、主体中心位于杯口区域的可视判据，约视频 13.6 s 起叉子入杯成立，末态仍成立；时间约有 0.5 s 不确定性。成功参考视频 48.5 s 同样允许叉子横搭杯沿，未另加竖直插入或整体沉入要求。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 4.0–13.4 s，固定基座机械臂的二指夹爪夹住叉柄，提起搬运至杯口，然后张开释放。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，勺子在红碗中；视频 18.0–23.0 s，机器人伸到红碗处闭合夹爪，随后勺子离开红碗并随夹爪移动。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "观察：视频 24.0–27.5 s，夹爪携勺子从红碗上方移向水果盘、果汁盒一侧，没有把勺身送到陶瓷杯口；视频约 28.1 s 夹爪在果汁盒与黑色隔热手套附近张开，勺子落在杯外。视频 28.5–33.8 s，勺子一直位于该处，红碗为空，陶瓷杯远在另一侧。" + }, + { + "t": 33.8, + "log_step": 113, + "text_zh": "观察：视频 33.8 s 显示勺子仍在果汁盒与黑色隔热手套旁；log step 113 的 success=True 和两件餐具 in_mug=True 来自较早的测试（resets=22），其后 log step 117 才重置、录制提交。因此该测试结果不能作为本次评分视频中勺子入杯的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 21.0–28.1 s，单个二指夹爪夹住勺柄，将勺子抬离红碗并搬运，最后在杯外张开释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "spoon_in_mug", + "t": 28.1, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 28.1 s，机器人携勺的夹爪在果汁盒和黑色隔热手套旁张开，陶瓷杯在另一侧，勺子未进入杯口；视频 28.5–33.8 s 没有重新拾取或修复，叉子仍横搭杯口。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 28.1, + "log_step": null, + "evidence_zh": "观察：视频 27.5–28.5 s，机器人在远离陶瓷杯的果汁盒旁释放勺子，勺子转落在黑色隔热手套边；视频 33.8 s 仍在杯外。松手前尚未送到杯口区域，属于放置位置偏离。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 117 的录制脚本明确以杯口坐标为勺子的搬运目标，经 move_ik、move_joints 后开爪；视频 24.0–28.5 s 却显示机械臂把已夹起的勺子带向果汁盒并在杯外释放，说明这次搬运控制未实现预定目标。该脚本不检查逆解返回的 ok，也不在释放前复核勺子是否到杯口；但日志未给出本次录制的逆解返回值和实际末端坐标，因此根因只标到控制，不推定具体逆解、参数或感知错误。" + } + ], + "gap_zh": "没有状态日志或本次评分逐帧的原生包含谓词，叉子中心相对杯子凸包的精确归属及首次成立时间由多视角画面判断，约有 0.5 s 误差。log step 117–121 仅记录重新录制和等待，缺少此次录制的逆解返回、末端误差及放置前检查结果；log step 113 的成功是先前测试，不能代替本次提交。控制根因可定位，具体子类无法可靠区分。", + "unmet": { + "fork_in_mug": true, + "spoon_in_mug": false + } + }, + "summary_zh": "评分轨迹完成叉子入杯：约视频 13.6 s 起叉子横搭杯口并保持到结束；勺子虽被夹起搬运，却在约视频 28.1 s 于果汁盒和黑色隔热手套旁释放，最终为 1/2 节点。断点是勺子入杯，现象为位姿不准，搬运控制未实现脚本预定的杯口目标；此前测试的成功状态不代表此次提交。缺少状态日志及本次录制的逆解反馈，叉子精确几何边界与控制细分类别仍有不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "叉子入杯（约 13.6 s）、勺子未入杯（约 28.1 s 在果汁盒旁释放）、断点与现象均与视频相符；根因标注为控制且措辞克制，有 log step 117 脚本支持。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": "2026-10-30T02:39:06Z", + "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/robolab-utensils-in-mug-i00-privileged--nunvo5v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--nunvo5v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2aeb1ca8dccb160f711dd7661de3666b795d451202c26dc04916d0e33a504c0a", + "video_sha256": "5577c9501988c9d3e0d46f5293f52a9a3d8210e9d618f1ce1df0ca112a441b39", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--pyhg9wm.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--pyhg9wm.json new file mode 100644 index 0000000000000000000000000000000000000000..51175514535fca2fb476aaf4e636917df94cc8c5 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--pyhg9wm.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--pyhg9wm", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 781, + "sim_steps": 781, + "final_reward": 0.5, + "replay_wall_s": 1058.3, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 14, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.151, + "peak_memory_gb": 8.393, + "peak_processes": 14, + "peak_disk_gb": 0.247, + "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/robolab-utensils-in-mug-i00-privileged--pyhg9wm/replay.mp4", + "duration_s": 52.133, + "fps": 15.0, + "frames": 782, + "sha256": "85f02445a719abc601efdc59c14a0edae232388cf9e1b95a4bac0c6f7bfa1351" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.3, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子横放在贝果盘边；视频 23.0–26.7 s，机器人二指夹爪下降并闭合在叉子的颈部，随后叉子离开盘面，视频 37.0–45.3 s 仍随夹爪搬运。" + }, + { + "t": 48.0, + "log_step": null, + "text_zh": "观察：视频 46.0–52.0 s，机器人将叉子夹持在颈部并移到杯口附近、逐渐下降；腕部视角可见叉柄大段伸出杯沿，叉颈与杯口重叠，但没有显示整把叉子的中心已经进入杯子向上延伸的区域。推断：夹持点到杯口不等于餐具凸包中心入杯，原先以约视频 48.0 s 为达成时刻的依据不足；结合末段持续相同的偏置，不记录叉子达成区间。" + }, + { + "t": 52.07, + "log_step": null, + "text_zh": "观察：视频 51.0–52.07 s，勺子仍留在杯中，叉柄仍大段伸出杯外；视频 52.07 s 两指开始分开，视频随即结束。inputs/run.json 的 reward.final_reward=0.5、success=0。推断：结合勺子已入杯及叉子的偏置姿态，将叉子最终空间关系标为 false，最终进度为 1/2；未用夹指接触本身否定 freeze_held=false 的空间节点。" + }, + { + "t": null, + "log_step": 77, + "text_zh": "观察：log step 77 的 Variant C 现场输出报告 success=True、progress=1.0，log step 78 核对交付文件为 781 行；评分器记录 n_actions=781、success=0。推断：现场测试读数不是评分重放的逐物体谓词，不能据此把评分视频中的叉子节点标为达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 25.3–52.0 s，机器人单臂二指夹爪闭合夹住叉颈，将叉子提离贝果盘并横持运向杯口；叉子在两指之间受约束，视频 52.07 s 才出现张爪动作。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，勺子在红碗里，陶瓷杯为空；视频 4.0–11.0 s，机器人二指夹爪夹住勺柄，勺头离开红碗并随夹爪升起。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "推断：视频 13.3–16.3 s，三个视角显示机器人将悬垂的勺子移至杯口上方，随后竖直下放；按杯口区域向上延伸且允许持握的判据，空间关系约从视频 14.0 s 成立，边界时刻约有 0.5 s 不确定性。" + }, + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 18.0 s，机器人夹爪已经张开并上退，勺子留在陶瓷杯中，勺柄露出杯沿；视频 19.0–52.07 s，勺子始终留在杯口区域，机器人随后操作叉子也未将勺子取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪闭合夹住勺柄末端，将勺子从红碗提起、运至陶瓷杯并下放；视频 18.0 s 已张爪脱离勺柄。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 52.07, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 46.0–52.07 s，机器人夹着叉颈把叉子移到杯口附近并下放，叉柄仍大段伸出杯外；视频 52.07 s 才开始张爪，随后视频结束。推断：叉子放入步骤中的位置与姿态未到位，未有后续修复；断点仍为 fork_in_mug，不能预设空间关系已成立后再把失败限于脱离夹指。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 52.07, + "log_step": null, + "evidence_zh": "观察：视频 48.0–52.07 s，机器人夹爪停在杯口附近，夹住叉颈，叉柄大段伸出杯沿；勺子留在杯内，叉子没有像勺子那样进入杯口区域。推断：放入时仅将抓取部位对到杯口，餐具整体的空间对位不足，与评分 final_reward=0.5、success=0 一致。视频仅在末帧开始张爪，没有完整释放及撤爪过程，故不把“没松开”另列为失败现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 48.0, + "log_step": 79, + "source_zh": "视频", + "evidence_zh": "观察：视频 23.0–26.7 s，机器人二指夹爪在叉颈附近闭合；视频 37.0–52.07 s，叉子随夹爪保持横持，移到杯口后长柄仍远伸在杯外。log step 79 的 agent 自述叉子“楔在完全闭合的手指里”，log step 78 的脚本注释也写明抓取近颈部；这些是抓法的会话佐证。推断：偏在叉颈的接触布局与将夹爪对准杯口的放置方式相结合，使叉子的中心未随抓点进入目标区域，是本次位姿不准的直接原因。尚未验证抓柄中段或换向放入的具体替代方案，alt_feasible 保留未知。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "t": null, + "log_step": 77, + "source_zh": "日志", + "evidence_zh": "观察：log step 59 的脚本安排张爪、上撤和保持，log step 68 修改为 Variant C；log step 77 的现场输出在 control step 781 首次报告 success=True 并保存，log step 78 核对交付文件只有 781 行。log step 79 的 agent 自述未做新进程重放验证；评分器 reward.agent_replays=0、n_actions=781、deterministic=1、success=0。推断：按 docs/DECISIONS.md N10，现场报告成功后直接保存交付、未重放验收而评分未复现该成功，仍支持交付操作出错。该原因只涉及保存与验收，不把现场成功移作评分重放的前一物理状态，也不推断评分失败仅由缺少后续张爪动作造成。" + } + ], + "gap_zh": "没有状态日志、逐餐具的原生空间谓词或夹指接触力记录；叉子凸包中心的精确归属只能结合多视角位置与评分结果推断，不能数值复核。log step 77 的现场成功读数与评分结果不同，缺少二者逐步状态，无法确定物理差异最早出现在哪里；视频在首次张爪后的末帧结束，无法判断追加释放动作后的结果。抓柄中段或换向放入未在本次证据中验证，不能把替代抓法写为已验证有。" + }, + "summary_zh": "评分视频中，机器人先将勺子从红碗放入杯中并松手，再夹着叉颈将叉子搬到杯口，但叉柄大段伸出杯外；勺子最终达成、叉子未达成，最终进度为 1/2，与评分 final_reward=0.5、success=0 一致。叉子步骤的现象改为位姿不准，根因推断为抓取与放置接触几何不适配，同时保留有日志支持的未重放验收即交付问题。无逐物体空间谓词，精确凸包中心及现场与评分重放的物理分歧无法复核，替代抓法也未经验证，因此置信度降为 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "评分器 final_reward=0.5（两个目标节点只满足一个），视频 52 s 勺子明确在杯中，所以叉子节点不能标为 final=true。腕部视角下叉子被夹在颈部，长柄远伸出杯外，凸包中心大概率在杯口区域外；标签把叉子判为 48 s 达成，又把失败归为'没松开'，与评分总分和画面都不符。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "勺子入杯（约视频 14 s 起成立）、叉子未达成、最终 1/2，与 final_reward=0.5 一致；断点、位姿不准、抓取和接触设计、交付操作出错均有视频与日志依据，未发现需要改动内容的错误。", + "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": "2026-10-30T03:26:23Z", + "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/robolab-utensils-in-mug-i00-privileged--pyhg9wm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--pyhg9wm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--pyhg9wm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--pyhg9wm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c3f5bd2ab2673dcd5f51265f26bda0824639181f9ef5779823b34258a4d4cc98", + "video_sha256": "85f02445a719abc601efdc59c14a0edae232388cf9e1b95a4bac0c6f7bfa1351", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--yvxjery.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--yvxjery.json new file mode 100644 index 0000000000000000000000000000000000000000..9e213ba5798615855da785efd64e4557f15bea41 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-privileged--yvxjery.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-privileged--yvxjery", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1474, + "sim_steps": 1474, + "final_reward": 0.0, + "replay_wall_s": 1507.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 4.151, + "peak_memory_gb": 8.195, + "peak_processes": 13, + "peak_disk_gb": 1.036, + "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/robolab-utensils-in-mug-i00-privileged--yvxjery/replay.mp4", + "duration_s": 98.333, + "fps": 15.0, + "frames": 1475, + "sha256": "7a1cca1a628ad33653ceca697708d35ab682b2f070805dc80d6756859897a903" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子搭在贝果盘上，蓝白格纹黄沿陶瓷杯内为空。" + }, + { + "t": 18.6, + "log_step": null, + "text_zh": "观察：视频 18.2–18.8 s，机器人二指夹爪夹着叉柄将叉子抬离贝果盘；视频 19.2–19.4 s 转腕时叉子脱离夹爪，落回贝果盘边，未搬到陶瓷杯口。" + }, + { + "t": 98.26, + "log_step": null, + "text_zh": "观察：视频 20.0 s 之后机器人没有重新抓取叉子；视频 48.0 s、68.0 s、97.4–98.26 s，叉子仍横在贝果盘后侧边缘，陶瓷杯口没有叉身。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂二指夹爪多次在叉柄处闭合；视频 18.2–18.8 s 可见对向夹持并抬起叉子，随后转腕时失去夹持。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金属勺的勺头在红碗内，陶瓷杯为空。" + }, + { + "t": 54, + "log_step": null, + "text_zh": "观察：视频 52.0–54.0 s，机器人二指夹爪在勺柄处闭合并使勺头抬高；视频 55.0–65.0 s，后续抓取重试仍在红碗上方，勺头反复抬起、回落，没有随夹爪移到陶瓷杯口。" + }, + { + "t": 98.26, + "log_step": null, + "text_zh": "观察：视频 66.0–70.0 s，机器人转腕并空手离开红碗附近，勺子仍留在红碗处；视频 97.4–98.26 s，勺头仍在红碗上方、勺柄斜靠碗侧，陶瓷杯中没有勺身。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂二指夹爪在红碗上方夹住勺柄并短暂抬动勺子，多次重新闭合；勺子最终仍留在红碗处。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 19.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 18.2–18.8 s 机器人已夹起叉子；视频 19.2–19.4 s 转腕时叉子离开夹爪并落回贝果盘边。此后机器人继续运动、再操作勺子，直到视频 98.26 s 都未重新夹取叉子或完成叉子入杯，因此这是首个未修复的失败步骤。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 19.2, + "log_step": null, + "evidence_zh": "观察：视频 18.2–18.8 s，叉柄保持在机器人两夹指之间且叉子已离开盘面；视频 19.2 s 叉子与夹爪分离，视频 19.4 s 已落在贝果盘边，夹爪继续独自转动。这是抬起后的夹持丢失，发生在到达陶瓷杯之前。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 19.2, + "log_step": 97, + "source_zh": "日志", + "evidence_zh": "推断：机器人在叉子已被夹起后执行转腕，却未维持餐具与夹爪的相对位姿（视频 18.2–19.4 s），表明抓取保持与转腕控制失配。log step 97 的交付录制脚本在抬起后调用 make_vertical，再直接执行 insert，没有在转腕后确认仍持叉或安排重抓；log step 104 记录叉子已抬高，而转腕后的叉子朝向仍接近水平，log step 113 记录叉子最后仍不在杯内。log step 122 的录制共 1474 个动作，log step 140 将该录制保存为交付，故这些日志与视频中的失败相互吻合；具体控制子类证据不足。" + } + ], + "gap_zh": "没有状态日志或接触力记录，无法进一步区分夹持几何、夹紧力与转腕轨迹对失持的具体贡献，根因保留在“控制”。日志包含多次会话重置和后续试验；log step 78 的叉子短暂满足入杯关系属于更早的调试，不在交付视频中，未计入进度。" + }, + "summary_zh": "机器人先多次抓叉，成功抬起后在视频约 19.2 s 转腕时失持，叉子落回贝果盘边且始终未补救；随后多次抓勺，勺子最终仍留在红碗处，两个入杯节点均未达成，最终为 0/2。断点为叉子入杯，现象为没保持住，根因为抓取保持与转腕控制失配；缺少接触力和状态日志，无法细分控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频显示叉子在约19 s转腕后落回贝果盘，之后未再抓取，勺子留在红碗，0/2、断点叉子入杯、没保持住与控制根因与帧一致。", + "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": "2026-10-30T02:53:47Z", + "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/robolab-utensils-in-mug-i00-privileged--yvxjery/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-privileged--yvxjery/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fdbac3cd53447b1171cd621740ce884b37372fca73f2bc890cb33c335288ce2", + "video_sha256": "7a1cca1a628ad33653ceca697708d35ab682b2f070805dc80d6756859897a903", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--74d6ons.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--74d6ons.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e560320ddc2d00ebc61597ae701cec8802af95 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--74d6ons.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-standard--74d6ons", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 0, + "n_actions": 6455, + "sim_steps": 6455, + "physics_steps": 51640, + "steps": 1465, + "elapsed_s": 5030.5, + "video_rendered": 0, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.746, + "peak_processes": 7, + "peak_disk_gb": 0.399 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-utensils-in-mug-i00-standard--74d6ons/replay.mp4", + "duration_s": 430.4, + "fps": 15.0, + "frames": 6456, + "sha256": "ba7106793d6a4fc528bdad28cc94512605e7a15b380bb2b0fe4004d5606cff3f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子斜搭在贝果盘上，陶瓷杯为空；叉子初始不在杯口区域。" + }, + { + "t": 43.0, + "log_step": 110, + "text_zh": "观察：视频 28–44 s，机械臂向贝果盘下探并闭爪后抬起，腕部视角仍显示叉子留在盘上，未随夹爪搬走；log step 110 是该次叉子抓取、抬升脚本。" + }, + { + "t": 57.0, + "log_step": 137, + "text_zh": "观察：视频 56.4–57.5 s，夹爪在贝果与叉子旁下降，叉齿转动后从腕部视野下方消失，贝果也被碰动；未见叉子被稳定夹起。视频 149–168 s，机械臂从该盘上方抬起、再下探并离开，没有把叉子送至陶瓷杯。" + }, + { + "t": 430.2, + "log_step": null, + "text_zh": "观察：视频 240–428 s 的连续抽帧及视频 429.4–430.2 s 的末秒画面，陶瓷杯内及杯口均没有叉身。推断：对照参考成功视频 30–45 s 清楚可见叉身横跨杯口的表现，本次叉子入杯未达成；此判断不依赖零分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 56.4–57.5 s，单臂二指夹爪下探时拨动叉子，叉齿随接触转动；夹爪和贝果遮住柄部，未证实形成对向夹持，故不标抓握。随后机械臂继续在贝果盘附近尝试。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，勺头在红碗内，勺柄斜向碗外，陶瓷杯为空。" + }, + { + "t": 16.0, + "log_step": 86, + "text_zh": "观察：视频 12–16 s，机械臂二指夹爪闭合夹住勺柄并抬起，勺头离开原来在红碗底的位置，随后随夹爪移向陶瓷杯方向；这是实际抓取，非仅依据脚本的抬起声明。" + }, + { + "t": 23.8, + "log_step": 94, + "text_zh": "观察：视频 21–23.7 s，夹爪持勺停在杯口左侧，勺身中心未对准杯口；视频约 23.8 s，夹指张开，勺子向红碗和酸奶杯盖方向掉落，视频 24.0–26.0 s 已横搭在两者之间，陶瓷杯仍为空。log step 94 的脚本明确在指定放置位姿执行开爪。" + }, + { + "t": 218.0, + "log_step": 206, + "text_zh": "观察：视频 176–190 s，夹爪再次拨动勺子但勺子回落红碗；视频 206–218 s，机械臂在红碗旁操作，勺子随后落到白色水壶与水果盘之间的桌面，未移入陶瓷杯。" + }, + { + "t": 430.2, + "log_step": 625, + "text_zh": "观察：视频 240–428 s，每次机械臂从桌边抓取区抬起、移向陶瓷杯后，勺子仍可在原桌面位置看到；视频 429.4–430.2 s，勺子仍躺在桌上且陶瓷杯为空。log step 625 最后仅称已启动勺柄尖端抓取与入杯脚本，未报告成功；评分器 live_success=0。推断：这些后续尝试没有修复早期入杯失败，本节点始终未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 12–23.7 s，单臂二指夹爪夹住勺柄并提起、搬运，视频约 23.8 s 主动张开释放。后续在红碗和桌边反复合爪取勺，视频 182–218 s 还拨动了勺子与红碗；未把后续空夹动作计作成功抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "spoon_in_mug", + "t": 23.8, + "log_step": 94, + "where": "操作中", + "evidence_zh": "观察：视频约 23.8 s，机械臂在勺身中心仍位于陶瓷杯口左外侧时张开夹指，勺子掉回红碗与酸奶杯盖之间；log step 94 明确包含该放置姿态的开爪命令。视频 176–218 s 及后续多次重试均未完成勺子入杯，末秒视频 429.4–430.2 s 勺子仍在桌面。推断：这是先发生且始终未修复的勺子入杯失败，早于叉子步骤的失败。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 23.8, + "log_step": 94, + "evidence_zh": "观察：视频 23.2–23.7 s，机器人持勺停在陶瓷杯左侧；视频约 23.8 s 开爪后，勺子直接落向酸奶杯盖与红碗，视频 24.0 s 即横搭在这两件物体之间。log step 94 的脚本在该姿态主动发出开爪指令。推断：机器人释放前未使餐具中心进入杯口区域，属于放置位姿不准。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 94 的搬运脚本在固定 TCP 目标 [0.337, -0.088, 0.22] 后直接开爪，未在释放前校正勺身相对杯口的位置；视频 21–23.8 s 证实该持物与释放姿态没有让勺身中心对准杯口。后续 log step 206、215、593、609、624 虽更换取勺位置或姿态，视频 206–218 s 及视频 240–430.2 s 仍显示勺子留在红碗旁或桌面，入杯操作未修复。证据支持放置和重抓控制未奏效，但不足以进一步区分标定误差、接触几何或轨迹跟踪问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或逐餐具原生入杯谓词，故不能数值复算凸包中心和接触对；视频约 23.8 s 的释放时刻为视觉近似。叉子在视频约 57 s 后被夹爪、贝果及桌沿遮挡，无法确认其最终落点或是否曾有极短夹持，但后续杯口持续可见且没有叉身，不影响入杯 final=false。日志中的深度估计多次变化，缺少独立校准真值，故根因仅标控制，不细分为感知或某一控制子类。" + }, + "summary_zh": "机器人曾夹起勺子，但在视频约 23.8 s 于陶瓷杯外开爪，勺子落回红碗与酸奶杯盖之间；这是首个始终未修复的失败，现象为位姿不准，根因证据支持控制未奏效。叉子也进行了抓取尝试，但两件餐具均未进入杯口区域，最终节点为 0/2；视频 429.4–430.2 s 杯口仍为空、勺子留在桌面。无状态日志，叉子后续落点及具体控制子因不能确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "复核视频：勺子被夹起后在视频约 23.8 s 于杯口左侧松爪、落回红碗与杯盖之间；叉子在 28–57 s 的抓取未带走叉子，杯口至末帧均无餐具。两节点 false、最终 0/2、断点勺子入杯 23.8 s、位姿不准、控制根因均有证据支持，未发现需要修改之处。", + "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": "2026-10-30T03:06:55Z", + "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/robolab-utensils-in-mug-i00-standard--74d6ons/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-standard--74d6ons/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d2e3ce0f82b690db905a1d6655f3d12f4d7e83a1b28fa357c0e9b7604f620664", + "video_sha256": "ba7106793d6a4fc528bdad28cc94512605e7a15b380bb2b0fe4004d5606cff3f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--bkfxrey.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--bkfxrey.json new file mode 100644 index 0000000000000000000000000000000000000000..a3b6000e66f124c73ebb9206291b370f9b9d7590 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--bkfxrey.json @@ -0,0 +1,223 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-standard--bkfxrey", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1020, + "sim_steps": 1020, + "physics_steps": 8160, + "steps": 138, + "elapsed_s": 2020.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.912, + "peak_processes": 13, + "peak_disk_gb": 1.126, + "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/robolab-utensils-in-mug-i00-standard--bkfxrey/replay.mp4", + "duration_s": 68.067, + "fps": 15.0, + "frames": 1021, + "sha256": "1764d5c4dbacc7fd0b7e8a46ca1b163612e772a146bc34dae06dae0485dab008" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，叉子搭在贝果盘上，蓝白格纹杯为空，叉子不在杯口区域。" + }, + { + "t": 13.3, + "log_step": 143, + "text_zh": "观察：视频 12.0–13.6 s，机器人二指夹爪夹住叉柄末端并将叉子提离贝果盘；叉柄相对夹指滑移，视频 13.8 s 叉子脱离夹爪向旁侧翻落，未运到杯口。log step 142 的脚本在该段命令闭爪上提，log step 143 回报闭爪后开度 0.0198 m、上提后 0.0038 m。" + }, + { + "t": 62.4, + "log_step": 271, + "text_zh": "观察：视频 55.8–56.4 s，叉子躺在机器人基座旁的穿孔板上，夹爪靠近叉齿补抓；视频 57.0–62.4 s，夹爪上移而叉子仍留在穿孔板，补抓未将叉子带走。" + }, + { + "t": 68.0, + "log_step": 287, + "text_zh": "推断：视频 62.4 s 后机器人转向桌面勺子，视频 68.0 s 结束前没有将叉子从穿孔板运回杯口；结合已检查的全程多视角帧，叉子入杯关系未达成，末态为假。log step 287 服务状态为 done=False，评分字段 live_success=0、replay_success=0，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人单臂二指夹爪在视频约 12.0 s 夹住叉柄末端并提起，随后叉子滑脱；视频约 56.4 s 再对穿孔板上的叉齿闭爪补抓，未能带走叉子。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，勺子位于红碗内，与目标陶瓷杯分开。" + }, + { + "t": 38.0, + "log_step": 185, + "text_zh": "观察：视频 29.2–38.8 s，机器人手臂在桌面物体间扫动，红碗翻斜，勺子离开碗后留在碗旁桌面；杯口仍未承接勺子。" + }, + { + "t": 66.87, + "log_step": 285, + "text_zh": "观察：视频 66.80–66.93 s，机器人两夹指从勺头两侧合拢，短暂夹住勺头下部；视频 67.0–68.0 s 夹爪上提并闭合，勺子仍躺在原桌面位置，没有随爪离桌或移向杯口。log step 285 的脚本命令下降、闭爪、上提，回报开度从 0.0401 m 变为 0.0018 m；这些读数不作为成功取勺的证据。" + }, + { + "t": 68.0, + "log_step": null, + "text_zh": "观察：视频 68.0 s 的三视角末帧中，勺子完整留在翻斜红碗旁的桌面，目标杯内未见勺子；勺子入杯末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 66.87 s，机器人二指夹爪从两侧短暂夹住桌面勺头下部，提爪时勺子脱出并留在桌面；未完成搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 13.3, + "log_step": 143, + "where": "操作中", + "evidence_zh": "观察：视频 12.0–13.6 s，机器人夹住叉柄末端向上提，叉柄在夹指间滑移；视频 13.8 s 叉子脱离夹爪且不在杯口，视频 55.8–62.4 s 的补抓仍使叉子留在穿孔板上。此后机器人转向勺子直至视频 68.0 s 结束，最早失败的叉子入杯步骤没有完成。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 13.3, + "log_step": 143, + "evidence_zh": "观察：视频 12.4–13.6 s，叉子已随闭合夹爪离开贝果盘，但叉柄末端相对夹指逐渐滑移；视频 13.8 s 叉子向侧面翻落，夹爪未能把它保持到杯口。log step 142 的该段脚本仍命令 grip=1 上提，log step 143 回报夹爪开度由闭爪后的 0.0198 m 缩至上提后的 0.0038 m。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频 12.0–13.6 s，机器人夹持的是叉柄最末端的外扩部位，随着上提，夹持位置滑向端部，叉子不能稳定随爪运动；log step 142–143 显示脚本在此闭爪后直接抬至约 0.30 m，夹爪开度从 0.0198 m 收至 0.0038 m，支持该接触几何未提供可靠夹持。agent 自述“pinched the fork's flared handle end…too close to the tip”（log step 288）与画面相符；本次运行未验证成功的替代抓法。" + } + ], + "gap_zh": "本目录没有状态日志，不能直接核验餐具凸包中心或夹指接触对；进度依据多视角画面，已与 oracle 中杯口承接餐具的可见形态比较。夹持力与摩擦系数未记录，不能进一步区分抓力不足和局部接触几何的贡献；仅将可见的柄端夹持不稳归为抓取和接触设计。" + }, + "summary_zh": "观察：机器人尝试了两件餐具，但叉子首次上提后滑脱，穿孔板上的补抓也未将其带走；末尾抓勺时勺子仍留在桌面，两个入杯节点的末态均为假（0/2）。推断：最早未修复的断点是叉子入杯，柄端夹持不稳导致没保持住；中途机器人搜寻和恢复动作还扫碰了桌面碗壶等物。没有状态日志或接触力记录，精确接触与凸包关系只能由画面辅助判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点末态（叉子、勺子均未入杯，0/2）、叉子夹持滑脱的断点（视频约13.3 s，control_steps 205/15≈13.7 s 与之吻合）、没保持住 + 抓取和接触设计均有画面支持，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": "2026-10-30T02:57:48Z", + "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/robolab-utensils-in-mug-i00-standard--bkfxrey/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-standard--bkfxrey/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0a3f4b4cc8d84d2465738cc172c556cd738cb326314c70510cd4b86fbeee27cb", + "video_sha256": "1764d5c4dbacc7fd0b7e8a46ca1b163612e772a146bc34dae06dae0485dab008", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--jbwqltu.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--jbwqltu.json new file mode 100644 index 0000000000000000000000000000000000000000..78a63f39ccb6e033a3eff7cea1a645e8e47933a5 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--jbwqltu.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-standard--jbwqltu", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 2143, + "sim_steps": 2143, + "physics_steps": 17144, + "steps": 93, + "elapsed_s": 5315.7, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-utensils-in-mug-i00-standard--jbwqltu/replay.mp4", + "duration_s": 142.933, + "fps": 15.0, + "frames": 2144, + "sha256": "26329c654c0984742c084fa8aa01b77441e404d873fddcb0fe001ccdae26a397" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面与肩后视角显示叉子横跨贝果盘，格纹陶瓷杯直立且杯口为空，叉子初始不在杯口区域。" + }, + { + "t": 20.4, + "log_step": 61, + "text_zh": "观察：视频 14.9–20.2 s，机器人夹爪中的叉子随末端升高，正面视角可见叉子离开盘子，腕部视角中叉柄保持在夹指之间；视频 20.3–20.9 s 夹爪张开，叉子翻转落回贝果盘及其边缘。此时机器人一直在盘子上方，未将叉子运到陶瓷杯口。log step 61 却自述叉子在抬升期间仍留在盘上，并发出夹爪打开的指令。" + }, + { + "t": 124.3, + "log_step": 312, + "text_zh": "观察：视频 122.75–124.0 s 机器人再次在贝果盘边缘合爪接触叉子；视频约 124.25–124.75 s 抬升时叉子弹离夹爪，落向机器人基座旁的后方打孔台面，未进入杯口。" + }, + { + "t": 142.85, + "log_step": null, + "text_zh": "观察：视频 142.0 s 与 142.85 s 的正面视角仍能看到叉子平躺在机器人后方打孔台面上，陶瓷杯侧倒在前方木桌上，两者明显分离；腕部视角可见勺子仍在红碗中。通览视频并密集核对上述搬动，未见叉子移到杯口区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 14.9–20.2 s，机器人二指夹爪夹住叉柄，叉子离开贝果盘并随末端抬升；视频约 20.4 s 主动张爪，叉子落回盘边。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人随后多次在贝果盘边缘调整夹指并拨动叉子；视频 122.75–124.75 s 夹指接触叉齿一端后抬升，叉子被拨弹到后方台面。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 勺头在红碗内、勺柄搭在红碗沿上，与空的格纹陶瓷杯分开。" + }, + { + "t": 104.0, + "log_step": 253, + "text_zh": "观察：视频约 99–109 s，机器人在红碗处多次下降、合爪、抬升，夹爪随后向杯子方向移动时，勺子仍可见留在红碗内；没有发生将勺子随夹爪搬到杯口的转移。" + }, + { + "t": 115.0, + "log_step": 283, + "text_zh": "观察：视频 111.5–112.5 s 勺子转为横搭红碗沿；视频 114.0–115.0 s 机器人夹指夹在勺柄处，抬升时连带红碗倾斜，随后勺子又落回红碗。视频 118.5–120.5 s 机器人继续拨动碗中勺子，并在向杯子方向移动时碰倒陶瓷杯，勺子未随之进入杯口。" + }, + { + "t": 142.85, + "log_step": null, + "text_zh": "观察：视频 126.0 s、142.0 s 与最后的 142.85 s，腕部视角均可见勺头仍在红碗中，末帧勺柄横搭碗内；陶瓷杯侧倒在碗的另一侧，勺子未到达杯口或杯子敞开方向的延伸区域。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 114.0–115.0 s，机器人二指夹爪合拢夹住勺柄一段，抬升时勺子带着红碗倾斜，随后脱离夹持回到碗中。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 111.5–112.5 s 及 118.5–120.5 s，夹指拨动勺子并推移、倾动红碗；机器人向杯子方向扫移时也碰倒了格纹陶瓷杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 20.4, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 14.9–20.2 s 叉子已被机器人夹起；视频约 20.4 s 机器人在贝果盘上方打开夹爪，叉子落回盘子及盘边，未运输到陶瓷杯。log step 61 自述叉子仍在盘上，并把夹爪命令设为打开。此后机器人反复重试，视频约 124.3 s 叉子又被弹到后方打孔台面，至视频 142.85 s 仍未入杯；因此首次未修复的失败步骤是叉子入杯。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 20.4, + "log_step": 61, + "evidence_zh": "观察：视频 20.2 s 叉子还夹在机器人的夹爪中，杯子位于贝果盘另一侧；视频约 20.4 s 夹爪在盘上方张开，视频 20.5–20.9 s 叉子翻转掉回盘边。log step 61 的指令明确打开夹爪，释放发生在目标杯口之外。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": 20.4, + "log_step": 61, + "source_zh": "日志", + "evidence_zh": "推断：agent 对叉子是否持握的判断错误，导致提前释放。log step 60 的检查脚本读取 initial/over_shoulder_left_camera_depth.npy，即初始深度图；紧接着 log step 61 自述叉子抬升后仍在盘上，并发出打开夹爪、重新抓取的命令。与此相反，视频 14.9–20.2 s 的正面视角显示叉子已离盘升至桌面上方，腕部视角中叉柄相对夹指保持不动；视频约 20.4 s 执行张爪后叉子才掉回盘中。" + } + ], + "gap_zh": "没有状态日志或逐物体原生入杯谓词记录，不能数值复核餐具凸包中心及瞬时接触力；两个节点依据三视角中的实际搬动、末态明显分离与成功参考画面对照判断。密集帧时刻约有 0.2–0.5 s 采样误差，持握误判的根因由视频与 log step 60–61 联合推断。" + }, + "summary_zh": "机器人尝试了叉子入杯和勺子入杯，但两个节点均未达成，最终为 0/2。断点在叉子入杯：视频约 20.4 s，agent 把已夹起的叉子误判为仍在盘上，机器人在杯外主动张爪；后续重试未修复，最后叉子在后方打孔台面上，勺子仍在红碗中。没有状态日志，精确凸包归属无法数值复核，但关键持握、释放和末态有多视角画面支持。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点未达成、0/2、断点叉子入杯 20.4 s（叉子被夹起后在盘上方张爪落回）与帧一致；末态叉子在后方台面、勺子在红碗中，与视频一致。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": "2026-10-30T03:09:36Z", + "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/robolab-utensils-in-mug-i00-standard--jbwqltu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-standard--jbwqltu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cfe141374784f897b482aeaa5901ad1c45bbf9a2109a66f713254a087457fb9a", + "video_sha256": "26329c654c0984742c084fa8aa01b77441e404d873fddcb0fe001ccdae26a397", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--keds2gn.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--keds2gn.json new file mode 100644 index 0000000000000000000000000000000000000000..f20334265dca6e46d2ff2833f3e565555f55dd96 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--keds2gn.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-standard--keds2gn", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 925, + "sim_steps": 925, + "physics_steps": 7400, + "steps": 39, + "elapsed_s": 1040.1, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-utensils-in-mug-i00-standard--keds2gn/replay.mp4", + "duration_s": 61.733, + "fps": 15.0, + "frames": 926, + "sha256": "49b3acf27b694112a0fc2c0d89545d65ded9bc4311391d1aada5224179e2859b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，银色叉子搭在贝果盘上，蓝白格纹黄沿陶瓷杯为空，叉子不在杯口区域。" + }, + { + "t": 4.9, + "log_step": 21, + "text_zh": "观察：视频 3.6–4.8 s，机器人二指夹爪夹住叉身并开始上抬；视频 4.93–5.2 s，叉子脱离夹爪并平落到贝果盘旁的桌面，未运向陶瓷杯。" + }, + { + "t": 9.2, + "log_step": 28, + "text_zh": "观察：视频 8.0–8.8 s，机器人再次闭爪夹叉；视频 9.2 s，叉子已从夹爪侧方掉出，视频 10.8 s 可见叉子落向桌子与机器人底座之间的地面，夹爪为空。后续寻找和恢复动作没有将叉子送到杯口。" + }, + { + "t": 61.6, + "log_step": 74, + "text_zh": "观察：视频 60.6–61.67 s，正面视角可辨叉子仍平躺在机器人支架右侧地面，与掉落的陶瓷杯分离；没有叉身跨过杯口的结果。评分器字段 live_success=0、replay_success=0，与该终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.6–4.8 s 及视频 8.0–8.8 s，单臂 Robotiq 二指夹爪对向闭合夹住叉身并尝试抬起；两次均未持续保持，叉子先落到桌面，后落到地面。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金属勺位于红碗中，陶瓷杯为空。" + }, + { + "t": 24.4, + "log_step": 45, + "text_zh": "观察：视频 23.4–24.2 s，机器人二指夹爪闭合夹住勺柄并抬升；视频 24.4 s，勺子已完全脱离夹爪，在红碗上方横向翻转，视频 24.6 s 落向桌子靠机器人一侧。视频 25.0–26.4 s，红碗已空且陶瓷杯也为空，勺子未被送到杯口。" + }, + { + "t": 52.4, + "log_step": 72, + "text_zh": "观察：视频 50.8–53.6 s，机器人恢复动作使桌面先移位再翻倒，陶瓷杯及桌上其他物品散落；此时夹爪没有持勺完成入杯。" + }, + { + "t": 61.6, + "log_step": 74, + "text_zh": "观察：视频 60.6–61.67 s，正面视角可见勺子独立躺在机器人支架左侧地面，叉子在支架右侧，均与陶瓷杯分离；勺子入杯关系未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 23.4–24.2 s，单臂 Robotiq 二指夹爪对向闭合夹住红碗中勺子的柄部并尝试抬起，随后勺子脱离夹爪。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 4.9, + "log_step": 21, + "where": "操作中", + "evidence_zh": "观察：视频 4.8–5.2 s，机器人首次抬叉时叉子从闭合夹爪中脱落，落在桌面。视频 8.0–10.8 s 的重抓再次失去叉子并使其落到地面，此后直到视频 61.67 s 都没有叉子入杯；这是最早发生且未被完成该步骤修复的失败。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.9, + "log_step": 21, + "evidence_zh": "观察：视频 4.27–4.8 s，叉身位于机器人闭合的两指之间并随抬升发生运动；视频 4.93 s，叉子已脱离夹爪，视频 5.2 s 平躺在桌面。log step 21 的抬升命令保持 grip=1，没有计划在桌面松手；视频 9.2 s 的第二次抬叉也未保持住。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.9, + "log_step": 22, + "evidence_zh": "推断：log step 21 的脚本在原位闭爪、等待后以 grip=1 抬升，log step 22 的服务返回抬升末端误差约 0.0042 m；但视频 4.93–5.2 s 显示叉子已掉在桌面。log step 26–28 更换姿态和抓取高度后，抬升末端误差约 0.0043 m，视频 9.2–10.8 s 仍显示叉子脱离夹爪并掉下；故失败可归于抓取承载的控制环节，现有证据不能细分接触几何、夹持力或滑移反馈。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志，也无夹指接触对或接触力记录；视频能确认两件餐具脱落、均未形成入杯结果，但不能量化夹持点、摩擦和载荷，故控制根因不细分。节点按多视角可见关系判断，未从像素估算原生凸包中心谓词；成功参考视频 45.0 s 及 49.47 s 可见餐具横跨杯口，已据此核对本次视频缺少相应结果。" + }, + "summary_zh": "机器人尝试抓取两件餐具，但叉子入杯和勺子入杯均未达成，最终为 0/2。最早未修复的失败是视频约 4.9 s 抬叉时没保持住，后续重抓及抬勺也失败，恢复动作又在视频约 51–54 s 掀翻桌子；证据支持控制环节失败。没有状态与接触力日志，无法进一步确定夹持失效的具体机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个目标节点均未达成，终态视频中叉、勺均在地面，与标签一致；断点（约 4.9 s 抬叉脱落）、没保持住现象与保守的控制根因有帧支持，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": "2026-10-30T03:01:37Z", + "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/robolab-utensils-in-mug-i00-standard--keds2gn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-standard--keds2gn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c524717bde12c0c7b2f1d7590e1ec914fa1a49501d83483bfac1aeef3a9b595", + "video_sha256": "49b3acf27b694112a0fc2c0d89545d65ded9bc4311391d1aada5224179e2859b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--qftv5tu.json b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--qftv5tu.json new file mode 100644 index 0000000000000000000000000000000000000000..57b8cc8c96f87373014ca5aaeed54954eea6bf83 --- /dev/null +++ b/phase2/robolab/utensils_in_mug/trajectories/robolab-utensils-in-mug-i00-standard--qftv5tu.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-utensils-in-mug-i00-standard--qftv5tu", + "taskKey": "robolab/utensils_in_mug", + "dag_sha256": "4e27769ecc29ebd28eec15d9141263482e0128b5bc7f7421fd8acaccb2f3668c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1607, + "sim_steps": 1607, + "physics_steps": 12856, + "steps": 471, + "elapsed_s": 1348.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.222, + "peak_processes": 9, + "peak_disk_gb": 0.45, + "resource_emergency_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-utensils-in-mug-i00-standard--qftv5tu/replay.mp4", + "duration_s": 107.2, + "fps": 15.0, + "frames": 1608, + "sha256": "7e1caed68e361f64ea3d1a60ce5e27b3764f64bc7f6b6bfe9690fba962703e06" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fork_in_mug": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，银色叉子横放在贝果盘上并伸向桌边，陶瓷杯内为空；叉子入杯关系初始不成立。" + }, + { + "t": 46.9, + "log_step": 35, + "text_zh": "观察：视频 44.0–46.7 s，机器人二指夹爪夹住叉柄靠末端处，叉子随夹爪抬起并相对夹指转动；视频 46.9–47.2 s，叉子滑出夹指，回落到贝果盘及旁边桌面，未移到杯口区域。log step 35 的脚本在闭爪状态下执行上提，非计划松手。" + }, + { + "t": 79.7, + "log_step": 46, + "text_zh": "观察：视频 75.0–78.9 s，机器人第二次夹住叉柄并抬起；视频 79.2–80.3 s，叉柄向下滑出夹爪，整把叉子落向桌边下方。视频 96.0 s 的腕部视角可见叉子躺在桌边外的地砖上；视频 107.13 s，夹爪已空手退开，杯中仅见勺子，叉子未入杯。" + } + ], + "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先后两次对夹银色叉子的柄部，均曾带起叉子；两次提举中叉子均滑脱，没有完成向陶瓷杯的搬运。视频 44.0–47.2 s、75.0–80.3 s。" + } + ] + }, + "spoon_in_mug": { + "method": "visual", + "intervals": [ + [ + 19.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，金属勺的勺头在红碗里，勺柄靠在碗沿；陶瓷杯中为空。" + }, + { + "t": 13.0, + "log_step": 20, + "text_zh": "观察：视频 10.0–13.0 s，机器人夹爪闭合夹住勺柄，勺子随夹爪上升，勺头离开红碗；视频 14.0–18.4 s，红碗已空，机器人持勺向陶瓷杯移动。" + }, + { + "t": 19.5, + "log_step": 22, + "text_zh": "推断：视频 18.0–19.6 s 的腕部与固定视角显示，机器人持握的勺子从杯侧移至杯口上方，勺身近竖直悬挂并对准杯内；按杯子沿自身向上轴无限延伸、持握时也计入的判据，首次成立取约视频 19.5 s，视觉边界时刻约有 0.5 s 不确定性。" + }, + { + "t": 26.6, + "log_step": 27, + "text_zh": "观察：视频 23.3–25.7 s，机器人继续将勺头降低到杯内；视频 26.1–26.6 s，夹爪张开，勺柄倾斜靠到杯沿，勺头留在杯内。此后机器人只操作叉子，视频 30.0–105.0 s 的连续粗采样及视频 106.2–107.13 s 的结尾检查均显示勺子保持在杯中，夹爪远离勺子。" + } + ], + "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对夹金属勺柄，提起勺子使其离开红碗，持勺搬运到陶瓷杯口上方、下放后张爪释放；视频 10.0–26.6 s。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fork_in_mug", + "t": 46.9, + "log_step": 35, + "where": "操作中", + "evidence_zh": "观察：视频 46.7–47.2 s，机器人在闭爪上提叉子的过程中失去持握，叉子落回贝果盘旁；这是叉子入杯步骤首次出错，后续未完成该步骤。视频 79.2–80.3 s 的第二次提举再次滑脱，叉子最终落到桌下，视频 96.0 s 可见其在地砖上，视频 107.13 s 杯中仍只有勺子。" + }, + "unmet": { + "fork_in_mug": false, + "spoon_in_mug": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 46.9, + "log_step": 35, + "evidence_zh": "观察：视频 44.0–46.7 s，叉柄夹在机器人两根夹指之间且随夹爪升起，随后在视频 46.9–47.2 s 脱离夹爪并落回桌面；视频 79.2–80.3 s 再次出现叉柄滑出、叉子下落。log step 35、46 的提举脚本均保持闭爪指令，因此是持握丢失，不是向目标杯内的主动释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：视频 44.0–46.8 s、75.0–79.7 s 显示机器人夹持位置靠叉柄末端，叉子在提举中相对夹指转动、沿夹口滑移，两次均未能维持载荷；结合 log step 33、44 的叉柄夹持和闭爪提举脚本，支持所用接触位置及夹持几何不够稳固。agent 在 log step 47 自述“Pinching a flat handle by its thin edges does not hold well enough”，在 log step 59 自述握住了柄端薄边；这些是对视频失稳过程的解释，具体接触深度和力矩未被直接测量。更靠中部或更深的替代抓法在本次运行中未验证。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "观察：本目录没有状态日志或原生凸包包含谓词的逐帧读数，勺子首次进入杯子延伸区域的时刻依据多视角画面估计，精确几何边界仍有约 0.5 s 不确定性；未提供叉柄接触力或接触深度测量，因此不能进一步确定摩擦、夹力或具体力矩参数。成功参考视频用于核对入杯外观，不作为本次运行达成节点的证据。" + }, + "summary_zh": "观察：机器人将勺子从红碗夹起并搬至陶瓷杯，约视频 19.5 s 起满足入杯空间关系，视频 26.6 s 已松手，直到视频 107.13 s 结尾仍在杯内，最终完成 1/2 个节点。观察：叉子入杯步骤在视频 46.9 s 首次提举滑脱后始终未完成，第二次又于视频 79.2–80.3 s 滑落桌下；推断：靠叉柄末端的夹持几何未能稳定承载，是主要控制原因。观察：没有状态日志及接触力记录，勺子关系起点为视觉近似，替代抓法的可行性在本次运行中未验证。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽查视频帧：勺子约 19.5 s 起在杯口上方、26.6 s 松手后留在杯中直到 107 s；叉子约 46.9 s 首次滑脱，叉子未入杯，最终 1/2、断点 fork_in_mug、接触/没保持住与抓取和接触设计的标签与证据一致。", + "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": "2026-10-30T02:57:04Z", + "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/robolab-utensils-in-mug-i00-standard--qftv5tu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-utensils-in-mug-i00-standard--qftv5tu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3d0e82f7dd8886763dcd7d706f74eb8b36a8477cb1a223c3e0558c7554922f23", + "video_sha256": "7e1caed68e361f64ea3d1a60ce5e27b3764f64bc7f6b6bfe9690fba962703e06", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l.json new file mode 100644 index 0000000000000000000000000000000000000000..8374adca5c506d947e651742f5a617aa43f5a058 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 152, + "sim_steps": 152, + "final_reward": 1.0, + "replay_wall_s": 427.7, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 10, + "agent_sim_steps": 1804, + "agent_records": 3, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.917, + "peak_memory_gb": 7.134, + "peak_processes": 12, + "peak_disk_gb": 0.063, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l/replay.mp4", + "duration_s": 10.2, + "fps": 15.0, + "frames": 153, + "sha256": "6e72393a95963af577e9c9a84ce358def0a58c350652a7b4db5f334c1d7f9bc2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [ + [ + 10.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯在靠机器人一侧的桌边，位于手机后方较远处，尚未到桌中央；夹爪张开且未碰杯。" + }, + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 3.3–4.0 s，机器人二指夹爪在白杯一侧杯沿收拢，腕部视角可见两指分别位于同一段杯壁的内外侧，夹住杯壁。视频 5.3–7.3 s，白杯随夹爪离开原处，沿桌面上方低位移向手机后方的中央空处。" + }, + { + "t": 10.13, + "log_step": null, + "text_zh": "观察：视频 9.0–10.0 s，白杯已在桌中央附近，但夹爪仍夹着杯壁；视频 10.067–10.133 s，机器人张开夹爪，腕部视角可见两指与杯壁分开，外部侧视角可见杯子留在桌面上。完成时间取视频约 10.1 s，误差约一帧。" + }, + { + "t": 10.13, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、instance_exact=1，且无 grader_error 或 infra_error；结合视频末帧的居中放置和松手，判定含把手包围盒中心的逐轴 0.05 米容差及桌面接触验收均已满足，终态为真。" + }, + { + "t": null, + "log_step": 48, + "text_zh": "观察：log step 48 的交付生成脚本在新 Session 开始录制，按杯壁夹取、低位搬运、张开释放的顺序保存轨迹；log step 56 和 log step 61 发起交付文件的独立重放。此前会话的重置与测试不作为本视频节点进度依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.3–4.0 s，Panda 机械臂的 Robotiq 二指夹爪从白杯一侧杯沿内外夹住杯壁；视频 5.3–7.3 s 保持夹持并低位搬运白杯到桌中央，视频约 10.1 s 张开脱离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以二指夹住白杯一侧杯壁，低位移到桌中央、黑色手机后方，并在视频约 10.1 s 松开，唯一节点完成，终态为 1/1；评分器记录成功且确定性重放通过。无状态日志，首次完全脱离的时刻约有一帧误差，精确居中容差依评分结果确认；评分器未报告两项原生位置误差数值，均填 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点 mug_at_table_center 在视频约 10.1 s 达成、终态 1/1，与帧和评分器成功字段一致；抓握接触、无失败层均合理。", + "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": "2026-10-30T02:40:54Z", + "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/robolab-white-mug-in-center-of-table-i00-privileged--2v2k96l/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": 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"taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--5fnlhto", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1882, + "sim_steps": 1912, + "final_reward": 0.6667, + "replay_wall_s": 1044.5, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 1, + "agent_sim_steps": 2445, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-white-mug-in-center-of-table-i00-privileged--5fnlhto/replay.mp4", + "duration_s": 127.533, + "fps": 15.0, + "frames": 1913, + "sha256": "909ccb06df475c21f8ceaf4af069d98d87c7fac2f50e3842f22006b75b70aaa4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯直立于靠机器人一侧的桌边，明显未在黑色手机后方的桌中央空处。" + }, + { + "t": 10.67, + "log_step": null, + "text_zh": "观察：视频 9.0–12.0 s，机器人以闭合的夹爪指端从侧面推白杯，杯子逐渐倾倒；视频 14.0–38.0 s，杯子斜靠在夹爪指端附近，未继续滑到桌中央。" + }, + { + "t": 119.0, + "log_step": null, + "text_zh": "观察：视频 116.0–123.0 s，机器人从另一侧再次推杯，杯子翻转，仍停在靠机器人一侧；没有出现杯子进入桌中央空处且手指脱离的状态。" + }, + { + "t": 127.47, + "log_step": 44, + "text_zh": "观察：视频 124.0–127.47 s（含末秒）中，夹爪已经抬起与白杯分开，杯子倒扣在桌上、仍明显偏向机器人侧；成功参考录像的桌中央杯位明显更靠黑色手机。log step 44 确认交付文件含1882行动行，生成运行末态 success=False；本次评分器 success=0、deterministic=1，与视频未居中的结果一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 9.0–38.0 s，Panda单臂的Robotiq闭合指端抵住白杯侧壁推动，杯子倾倒并靠在指端附近；视频 116.0–123.0 s又从另一侧推杯，使杯子翻转后撤离。未见两指从两侧夹住白杯，不记抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 10.67, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 10.0–12.0 s，机器人推杯时白杯由直立转为侧倾，随后视频 14.0–38.0 s持续靠着指端、未向桌中央有效移动；视频 116.0–123.0 s的后续推动也未补成居中放置，末态视频 127.47 s仍偏在机器人侧。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 10.67, + "log_step": 40, + "evidence_zh": "观察：视频 10.0–12.0 s，机器人闭合指端推碰杯壁，使杯子倾倒；视频 14.0–38.0 s，杯子与指端相抵、位置几乎不再前进。log step 40中交付生成脚本的输出记录此次第一段 move_ee 在500个控制步后未收敛、位置误差28.7毫米；该日志仅作接触受阻的辅助证据，时间取自视频。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 124.0, + "log_step": null, + "evidence_zh": "观察：视频 119.0–123.0 s，机器人第二次推杯使杯子翻转；视频 124.0–127.47 s夹爪抬起后，白杯仍在靠机器人一侧的桌面，离黑色手机后方的中央空处有明显距离，放置位置未达目标。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 10.67, + "log_step": 36, + "evidence_zh": "推断：log step 36的交付生成脚本明确采用闭合指端、低位先沿一条水平轴再沿另一条轴推动白杯；视频 10.0–38.0 s实际造成杯子倾倒并顶在指端附近，视频 116.0–123.0 s再次推动又造成杯子翻转，说明该指端与杯壁的接触布局未能稳定地产生所需平移。成功参考录像 inputs/oracle/replay.mp4 的视频 3.0–10.07 s展示夹爪夹住杯沿附近、移到中央后张开，证明该任务存在可行替代接触方案；参考录像仅用于可行性比较，不作为本次接触证据。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本次没有状态日志及逐帧接触力读数，无法确认具体受力、摩擦系数或卡住的机器人链接；接触设计导致平移失效是由视频与生成脚本合并推断。评分器未报告DAG的两项逐轴距离指标，因此native_metrics值均为null，不用会话测量代填。" + }, + "summary_zh": "机器人用闭合夹爪两次推移白杯，但首次将杯子推倾并顶在指端附近，后续推动也未补成桌中央放置，唯一节点始终未达成，终态为0/1。视频 124.0–127.47 s可见夹爪撤离、杯子倒扣在桌上却仍靠机器人侧；失败表现为推碰受阻和放置位置不准，接触设计是有证据支持的根因推断。没有状态日志或接触力数据，精确受力及逐轴末态误差无法独立量化。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "唯一节点未达成（视频0 s、38 s、127.4 s正面视角杯子始终在机器人侧桌边，未到黑色手机后方的中央），final=false、推/扫接触、断点与根因均与证据一致；log 引用（按 id：36为 gen 脚本、40为28.7 mm 未收敛）核对一致。", + "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": "2026-10-30T02:42:19Z", + "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/robolab-white-mug-in-center-of-table-i00-privileged--5fnlhto/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-privileged--5fnlhto/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5df0d01d0083eb20742df97fc6600bdb6ef39687b496953a018857e676c50c83", + "video_sha256": "909ccb06df475c21f8ceaf4af069d98d87c7fac2f50e3842f22006b75b70aaa4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn.json new file mode 100644 index 0000000000000000000000000000000000000000..850767920635c3f5c4af78ff34caa5b2e3bfc247 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.3333, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 20, + "sim_steps": 20, + "final_reward": 0.3333, + "replay_wall_s": 334.4, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 5, + "agent_sim_steps": 913, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.669, + "peak_memory_gb": 15.848, + "peak_processes": 18, + "peak_disk_gb": 1.006, + "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/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn/replay.mp4", + "duration_s": 1.4, + "fps": 15.0, + "frames": 21, + "sha256": "ec17efa296afad1a020cdd26873a8f3501f5e47774a0db304ce577f9fd07280c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两个外部视角显示白杯在靠机器人一侧的桌边，明显偏离黑色手机后方的桌面中央空处；腕部视角显示张开的夹爪与白杯分离。" + }, + { + "t": 1.333, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–1.333 s（全部21帧，含最后一秒），机器人未向杯子伸手，白杯始终留在原处，没有被夹起、推移或放到桌中央。成功参考视频 10.133 s 中白杯已移至黑色手机后方的中央空处，说明本次视角能够分辨该节点是否达成。" + }, + { + "t": null, + "log_step": 90, + "text_zh": "观察：log step 90 中 agent 的脚本把初始七关节位置及张爪指令重复20次，直接保存为占位轨迹；log step 117 确认交付文件仍为(20,8)，log step 118 中 agent 自述交付的是保持初始姿态的占位轨迹，与评分视频相符。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 0.0, + "log_step": 90, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–1.333 s 中机器人保持初始姿态，夹爪始终远离白杯，未开始搬杯；白杯一直偏离桌中央。log step 90 写入20步初始姿态占位动作，log step 117 确认最终文件仍只有20步，评分器记录n_actions=20、success=0。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 90, + "evidence_zh": "观察：视频全部21帧（视频 0.0–1.333 s）均未出现机器人接近、抓握或推移白杯，杯子位置未变；log step 90 保存的是重复初始关节位置的占位动作，log step 118 中 agent 也明确称其为无操作轨迹。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 115, + "source_zh": "日志", + "evidence_zh": "推断：agent 的会话控制测试未解决搬杯执行问题，最终保留占位文件。依据是log step 74 中抓取运动不收敛、位置误差79.7毫米，log step 104 中放置下降不收敛、位置误差35.5毫米且杯中心仍偏离目标，以及log step 111、115 中最终版本接近和抓取运动分别有43.4、45.8毫米误差；log step 108 的脚本仅在提起后杯中心高度检查通过时才保存，log step 115 的该检查失败后直接结束，log step 117 的交付文件仍为20步。以上是会话证据，支持宽泛的控制根因，不能据此给评分录像添加抓取或滑落现象。" + } + ], + "gap_zh": "没有状态日志，评分器未报告两项杯桌中心逐轴距离，原生指标均留空。评分录像只包含占位动作；会话测试有控制错误反馈，但无对应测试视频，无法进一步区分接触几何、逆解或轨迹跟踪问题，根因仅标控制。", + "unmet": { + "mug_at_table_center": false + } + }, + "summary_zh": "评分视频 0.0–1.333 s 中机器人未开始搬杯，白杯始终在初始桌边位置，唯一节点“白杯放到桌中央”从未达成，最终为0/1。断点为该步首步前，现象为没尝试；会话日志显示多次运动不收敛，最终保留20步占位文件，支持宽泛的控制根因。缺少状态日志和会话测试视频，无法核实精确中心偏差或细分控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频21帧（0.0–1.333 s）机器人静止、白杯始终在桌边，节点未达成、final=0 与评分器 success=0、n_actions=20 一致；断点首步前+没尝试、根因停在宽泛「控制」均有 log step 74/90/104/111/115/117/118 支持，且正确标为会话证据，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": "2026-10-30T02:19:52Z", + "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/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-privileged--7qftgbn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ef09e54dc7aceaa929633eef41cca33e2d0f931c7f1898c9655b2e4d111414bf", + "video_sha256": "ec17efa296afad1a020cdd26873a8f3501f5e47774a0db304ce577f9fd07280c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv.json new file mode 100644 index 0000000000000000000000000000000000000000..8dffa5bb265caf06dfa151363f745de64f2297f2 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 353, + "sim_steps": 353, + "final_reward": 0.6667, + "replay_wall_s": 502.4, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 0, + "agent_sim_steps": 4092, + "agent_records": 9, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "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/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv/replay.mp4", + "duration_s": 23.6, + "fps": 15.0, + "frames": 354, + "sha256": "6499375ba1e7e2fb9ea588022815a572a447d1b858d8c12bee08b61cfc4f3257" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始外部视角中，白杯位于靠机器人一侧的桌边附近、橙汁盒旁，明显不在黑色手机后方的桌面中央。" + }, + { + "t": 6.6, + "log_step": null, + "text_zh": "观察：视频 6.4–7.4 s 的逐帧腕部与两外部视角显示，机器人二指夹爪闭合时把白杯轻微推移并使其倾斜；两指随后在杯子旁闭合，杯子仍留在桌面，未随夹爪抬起。视频 8–16 s 机器人空爪抬起并移向桌中央，没有搬运白杯。" + }, + { + "t": 23.53, + "log_step": null, + "text_zh": "观察：视频 22.67–23.53 s（含末帧）中，白杯仍在橙汁盒旁的原位置附近；机器人空爪停在手机后方中央空处。与成功参考视频 9.9 s 白杯已移到手机后方的外部视角相比，本次杯子明显未居中。" + }, + { + "t": null, + "log_step": 131, + "text_zh": "观察：log step 131 检查最终交付文件，动作数组为 (353, 8)，元数据为 top-down reachable rim grasp, lift, place；agent 自述杯子仅移动约 2 厘米、夹爪没有携杯。评分器字段 n_actions=353、success=0、deterministic=1，与评分视频中的空爪搬运动作一致；未以会话中其他抓取或推杯测试计入节点进展。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.53–7.2 s，Panda臂的Robotiq夹爪指尖在合拢时推碰白杯杯沿附近，使杯子在桌面上轻微移位、倾斜；没有形成将杯子夹住并带离桌面的抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 6.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 6.6 s，机器人闭爪时白杯被推离夹口，视频 7.2–9 s 夹爪空载上升而杯子留在桌面；随后机器人空爪完成向中央移动的动作，直到视频 23.53 s 仍未再次抓取或移放白杯。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.6, + "log_step": null, + "evidence_zh": "观察：视频 6.4–7.4 s 的腕部连续帧显示，机器人手指合拢时杯子从夹口前方偏开，未被两指夹持；视频 7.4–9 s 外部视角确认杯子仍在原处桌面、夹爪已经离开。这里未建立的是搬运所需的夹持，指尖确有短暂推碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "evidence_zh": "推断：视频 6.4–7.4 s 可见所选指尖落点没有形成杯壁两侧或单侧杯沿内外的有效对向夹持，合拢反而把杯子挤出夹口，导致后续抬升空载；因此归因于夹持接触几何。成功参考视频 3.4–6 s 显示另一种杯沿夹持能带杯移动，说明存在可行替代；参考只用于验证替代方案，不计入本次进展。log step 130 的交付脚本按候选位置 IK 可解即选定抓取点，闭爪后直接继续抬升、搬运，没有以抓持成功作为继续动作的条件。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本次没有状态日志或逐指接触力记录，无法量化短暂推碰的力、精确夹持落点和逐轴中心误差；评分器也未报告 DAG 的两项距离指标，均保留为 null。杯子始终明显停在原位置附近，节点未完成与空爪搬运可由多个视角确认。" + }, + "summary_zh": "评分轨迹中，机器人接近白杯并闭爪，但只将杯子轻微推移，随后空爪移到桌中央；唯一节点“白杯放到桌中央”从未达成，末态为 0/1。断点在视频约 6.6 s 的夹持失败：未建立搬运所需的抓握，接触几何不适配使杯子被挤出夹口。无状态日志及接触力、距离指标，精确几何与力无法量化，但视频末帧仍清楚显示杯子偏离桌中央。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成（杯子始终在橙汁盒旁原位）、断点约视频6.6 s的夹持失败、没建立接触+抓取和接触设计与帧一致；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": "2026-10-30T02:47:32Z", + "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/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-privileged--avhkmnv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "170b270e20f93c05c48cec5a8ec0f16613504cd449786a9e47bfcd436d33294c", + "video_sha256": "6499375ba1e7e2fb9ea588022815a572a447d1b858d8c12bee08b61cfc4f3257", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs.json new file mode 100644 index 0000000000000000000000000000000000000000..d995a4dd9f812a7ea75031eb273a82713d1835f1 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs.json @@ -0,0 +1,184 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 192, + "sim_steps": 192, + "final_reward": 1.0, + "replay_wall_s": 402.1, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 8, + "agent_resets": 2, + "agent_sim_steps": 1499, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 3.921, + "peak_memory_gb": 7.362, + "peak_processes": 10, + "peak_disk_gb": 0.058, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs/replay.mp4", + "duration_s": 12.867, + "fps": 15.0, + "frames": 193, + "sha256": "628483ab3f6f2db9c45edd91e8eb6e418915eebe0b077462c655baa0239f73eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [ + [ + 12.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯位于靠机器人一侧的桌边，明显远离桌中央；黑色手机后方的中央空处尚无白杯。" + }, + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 2.8–4.4 s，机器人二指夹爪下降到白杯杯沿，两指分别处于杯壁内外并闭合夹住杯沿；视频 5.6–6.4 s，白杯随夹爪抬离原处，随后视频 7.0–11.6 s 被搬向黑色手机后方的桌面中央。" + }, + { + "t": 12.133, + "log_step": null, + "text_zh": "观察：视频 11.6–12.0 s，机器人在桌中央降低白杯，夹爪仍闭合；视频 12.067–12.133 s，夹爪明显张开。视频 12.133–12.667 s，杯沿附近仍有手指遮挡，不能仅凭张开动作确定全部接触已经解除。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 12.733–12.8 s，白杯在张开的夹爪旁发生倾斜，仍位于黑色手机后方的桌面中央；侧面视角显示杯子落在桌面处。最后一帧为视频 12.8 s，未出现离开中央区域的后续画面。" + }, + { + "t": 12.8, + "log_step": null, + "text_zh": "推断：结合视频 12.067–12.8 s 的松爪、杯子下落及末态画面，以及 inputs/run.json 评分器字段 success=1、all_success=1、deterministic=1、final_reward=1.0，判定白杯居中、接触桌面且两指脱离的节点最终成立，首次达成以视频约 12.8 s 为锚点。无状态日志，精确首次触桌和脱离时刻在视频 12.1–12.8 s 内不能独立确定；逐轴5厘米容差由评分器成功结果补足。节点不要求杯子直立或额外静置。" + }, + { + "t": null, + "log_step": 113, + "text_zh": "观察：log step 102 的 agent 脚本从新会话录制夹杯沿、抬升、搬到桌中央和松爪动作；log step 106、109 对交付轨迹启动两次新进程重放，log step 113 检查交付文件为192条八维动作，与评分器 n_actions=192 一致。本节点时间取自本次视频，未使用 agent 工作时间或早期调试会话的结果。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.6–6.4 s，Panda单臂的Robotiq二指夹爪以杯壁内外相对接触夹住白杯杯沿，抬起后搬至桌中央；视频 12.067–12.8 s 张开并释放白杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人夹住白杯杯沿，抬起并搬到黑色手机后方的桌中央，末段张开夹爪，唯一节点在视频约 12.8 s 达成，最终1/1；评分器确认成功且重放确定。视频 12.733–12.8 s 杯子倾斜，但该任务不要求直立或静置，无失败断点。未提供状态日志，首次完全脱离和触桌时刻只能定位在视频 12.1–12.8 s，逐轴位置误差及精确接触条件由评分器成功结果补足，两个原生误差指标未单独报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频及评分器结果一致：白杯从桌边被夹起搬到手机后方桌中央，视频约12.8 s松爪达成，无失败断点；接触（手指/夹爪·抓握）与时间均合理。", + "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": "2026-10-30T02:46:01Z", + "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/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-privileged--lpm9pfs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "523251c7226882a784b9b2d1794b8e50707ae88ea680683db2245b94e04d68cf", + "video_sha256": "628483ab3f6f2db9c45edd91e8eb6e418915eebe0b077462c655baa0239f73eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc04c1e5aea0f96301e6c5e8bbfb3a6f6eb8aaa --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 207, + "sim_steps": 207, + "final_reward": 1.0, + "replay_wall_s": 503.5, + "replay_timeout_s": 1800.0, + "grader_error": 0, + "infra_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 15, + "agent_sim_steps": 414, + "agent_records": 7, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.877, + "peak_memory_gb": 12.247, + "peak_processes": 13, + "peak_disk_gb": 0.246, + "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/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb/replay.mp4", + "duration_s": 13.867, + "fps": 15.0, + "frames": 208, + "sha256": "8864b0b761c5aaa6a0c84ec9fa6b3a3932b83b28af8e3a23a1c9eca46a4be935" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [ + [ + 13.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两个外部视角中，白杯在靠机器人一侧的桌沿附近，明显未到黑色手机后方的桌面中央。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 3.6–4.2 s 机器人将闭合的两根手指伸入杯内，视频 4.4–6.0 s 腕部视角显示两指在杯内张开；视频 7.0 s 外部视角显示白杯随夹爪离开桌面，随后视频 10.0–12.0 s 白杯被搬到黑色手机后方的中央空处。此时手指仍抵住杯内壁，放置尚未验收。" + }, + { + "t": 13.8, + "log_step": null, + "text_zh": "观察：逐帧检查视频 12.8–13.8 s，白杯被降低至桌面中央；视频 13.733 s 两指仍在杯内张开，视频 13.8 s 两指合拢并与杯壁出现间隙，外部视角显示杯底落在桌面，白杯位于黑色手机后方的中央空处。视频随即结束，首次完成时刻记为视频约 13.8 s。" + }, + { + "t": 13.8, + "log_step": 43, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1、sim_steps=207；log step 34 显示 agent 保存了207行交付动作，log step 39、43 的官方新进程重放均返回 success=true、terminated=true，末态哈希相同。推断：结合视频 13.8 s 的落桌与脱离，末态满足逐轴5厘米容差及两指脱离条件；精确距离和接触阈值由评分器成功结果支持，未从会话调试坐标填入原生指标。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 3.6–6.0 s，Panda臂的Robotiq二指夹爪先闭合伸入白杯，再向外张开抵住相对内壁；视频 7.0–13.8 s 通过这一接触提起、搬运和落桌，最后合拢脱离。候选名称：杯内撑持。两指向外施压承载，没有合手包围或向内夹住杯壁，不符合抓握；也不是侧推扫动或从下方托起，故用其他。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以杯内撑持方式提起白杯，移到黑色手机后方的桌面中央并落桌，视频约 13.8 s 合拢手指释放，唯一节点最终完成（1/1），无失败断点。评分器 success=1、all_success=1、deterministic=1，且 log step 39、43 的两次独立重放均成功；此前会话中的杯沿夹取、侧推失败不属于本次交付轨迹。无状态日志，无法独立量测精确居中误差和接触阈值，节点末态由多视角末帧与评分结果共同支持，两项原生距离指标未由评分器报告，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": "成功运行，唯一节点 mug_at_table_center 在视频约 13.8 s 达成，帧与评分器字段一致；杯内撑持记为其他可接受；无失败断点，failure 为 null 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": "2026-10-30T02:50:16Z", + "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/runs/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-privileged--vkgvtdb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd4ff500e39c7b736aa36011a7c5730c26157081b05597bdbb1b2cc67d53b96d", + "video_sha256": "8864b0b761c5aaa6a0c84ec9fa6b3a3932b83b28af8e3a23a1c9eca46a4be935", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu.json new file mode 100644 index 0000000000000000000000000000000000000000..391c844bda734a4684baa816d9a15f4d6735ed72 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--4hcapbu", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 225, + "sim_steps": 225, + "physics_steps": 1800, + "steps": 225, + "elapsed_s": 3119.9, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.411, + "peak_processes": 6, + "peak_disk_gb": 0.303 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu/replay.mp4", + "duration_s": 15.067, + "fps": 15.0, + "frames": 226, + "sha256": "a5b894187c14d7683d797424efee20c6df36a51df48f7ad0d27507631f223d8f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯直立在靠机器人一侧的桌边，明显远离黑色手机后方的桌面中央空处，初态未达标。" + }, + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 6.0–7.0 s，机器人二指夹爪在白杯靠把手一侧闭合夹住杯子；视频 7.8–10.2 s，随机器人低位平移，杯体相对夹爪逐渐翻转，未进入桌中央。" + }, + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 14.0–15.0 s，机器人撤离时白杯从夹爪附近脱出，碰动牛奶盒后越过靠机器人一侧的桌边；视频 15.0 s 外部侧视可见白杯已在桌面下方、夹爪为空，桌中央仍无白杯。全程未见居中且接触桌面、两指脱离的状态。" + }, + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 100 的机器人服务状态为 control_steps=225、resumes=0；inputs/run.json 的评分器字段为 live_success=0、replay_success=0、live_matches_replay=1、infra_error=0。本次视频对应已执行的单次尝试；log step 108–110 后续修改并检查的抬升搬运方案没有追加到这段执行中。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.0–7.0 s，Panda 机械臂的 Robotiq 二指夹爪从两侧闭合夹住白杯靠把手一侧；随后闭爪低位移动，杯体在指间发生翻转，撤离时脱出。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 8.0, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：视频约 8.0 s，机器人正闭爪贴桌移动白杯，杯体开始明显相对夹爪翻转，视频 8.4–10.2 s 持续侧倒，未恢复稳定夹持；视频 14.0–15.0 s 白杯最终脱出并掉到桌下，放到桌中央这一步始终未完成。log step 79 启动的是夹取后低位滑移、松手和撤离的实际执行。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 8.0, + "log_step": null, + "evidence_zh": "观察：视频 7.0 s 白杯仍在已闭合的二指夹爪之间；视频 7.8–9.0 s，机器人移动时杯体逐渐在指间滑转成侧倒姿态，视频 10.0–13.8 s 也未恢复原夹持姿态，视频约 14.1 s 白杯完全脱出，随后落到桌下。问题在计划松手前已发生，属于夹持中未保持住杯子。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：执行脚本在 log step 78 中以闭爪、TCP 高度 0.045 m 直接平移杯子，随后才张爪与撤离，由 log step 79 启动；视频 7.0–9.0 s 显示这一低位夹持与桌面支承的接触组合未约束住杯体转动。log step 86、90 保存的本体感知读数还显示，夹爪闭合后开度约 70.6 mm，第二阶段仍命令闭爪时实际开度已增至约 103.2 mm，支持夹持不稳定的判断。成功参考视频 3.0–10.13 s 展示了夹住杯沿并移到桌中央后分离的可行替代接触方案；该参考只用于判断替代方案可行性，不作为本次进度证据。" + } + ], + "gap_zh": "没有状态日志或逐步接触力记录，无法确定杯子滑转时的精确接触点、摩擦力或力矩；接触设计归因为结合动作脚本、夹爪开度和视频的推断。评分器未报告两项逐轴中心距离，因此 native_metrics 的数值均为 null；白杯未居中且最终掉到桌下可由画面直接判断。" + }, + "summary_zh": "本次尝试夹住并移动了白杯，但视频约 8.0 s 起杯体在夹爪中滑转，最终在视频 14.0–15.0 s 脱出、掉到桌下，白杯放到桌中央节点始终未达成，终态为 0/1。失效现象为没保持住，结合执行脚本与夹爪开度推断低位夹持和平移的接触设计不稳定；后续仅规划检查的新搬运方案不计入已执行轨迹。缺少状态日志、接触力和评分器的精确中心距离，无法进一步核实滑转的具体受力机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（视频约8.0 s 夹持中杯体滑转）、「接触·没保持住」与「抓取和接触设计」（标为推断、有 log step 78/79/86/90 支撑）均与视频和日志一致；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": "2026-10-30T02:55:09Z", + "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/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-standard--4hcapbu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5f29d1dc3526f03857a8fa5d2590bb1ebb6f4f2f737eabc0f4652a63a4d5b0bd", + "video_sha256": "a5b894187c14d7683d797424efee20c6df36a51df48f7ad0d27507631f223d8f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--9zamfva.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--9zamfva.json new file mode 100644 index 0000000000000000000000000000000000000000..0795489b92e6323349c818b1a0658f11e6d499b9 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--9zamfva.json @@ -0,0 +1,200 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--9zamfva", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 442, + "sim_steps": 442, + "physics_steps": 3536, + "steps": 40, + "elapsed_s": 533.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.209, + "peak_processes": 10, + "peak_disk_gb": 0.28, + "resource_emergency_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-standard--9zamfva/replay.mp4", + "duration_s": 29.533, + "fps": 15.0, + "frames": 443, + "sha256": "77d6996d760762c1a45d286457ba852dadff1cea098d144478a34a85dfff2291" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频起始外部视角显示白杯位于靠机器人一侧的桌边，明显远离黑色手机后方的桌面中央空处。" + }, + { + "t": 26.8, + "log_step": 19, + "text_zh": "观察：视频 26.5–27.7 s 的腕部视角显示机器人二指夹爪夹在白杯杯沿内外两侧，杯子随夹爪动作倾斜，但仍在原桌边附近；log step 19 的闭爪结果报告夹爪开度为 0.0049 m。" + }, + { + "t": 27.8, + "log_step": 21, + "text_zh": "观察：视频 27.8 s 白杯与夹爪分离，视频 27.9–28.3 s 杯子翻转并越过靠机器人一侧的桌边下落，未被搬到桌中央；log step 21 的上提动作结束后夹爪开度为 0.0018 m。" + }, + { + "t": 29.467, + "log_step": null, + "text_zh": "观察：视频 28.7–29.467 s 外部视角可见白杯留在桌下地面，机器人夹爪为空，桌面中央没有白杯，末态不满足放置条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 26.5–27.7 s，Panda臂的Robotiq二指夹爪以一指在杯内、一指在杯外的方式夹住白杯一侧杯沿；夹紧后杯子倾斜，上提时滑脱，未完成搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 27.8, + "log_step": 21, + "where": "操作中", + "evidence_zh": "观察：机器人正在为“白杯放到桌中央”夹取并上提白杯；视频 27.8 s 杯子从夹爪脱离，视频 27.9–28.3 s 翻落桌下，到视频 29.467 s 仍未被取回。log step 21 执行的是保持闭爪并上提 0.10 m 的指令，未执行目标处松手。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 27.8, + "log_step": 21, + "evidence_zh": "观察：视频 26.5–27.7 s 机器人二指夹住杯沿，杯子被带动倾斜；视频 27.8 s 杯子脱离夹爪，随后翻转落下桌边，夹爪继续空手上提。log step 21 的指令始终保持闭爪，故此处是持物滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 16 的脚本选定杯子一侧杯壁作为夹取点，log step 19 闭爪后开度仅 0.0049 m；结合视频 26.5–27.7 s 可见的杯沿内外夹持与杯子倾斜、视频 27.8 s 上提即滑脱，说明这次局部杯沿夹持未形成足以承载杯子的稳定抓握。可行替代由成功参照支持：inputs/oracle/replay.mp4 的参照视频 3–7 s 显示机器人以另一夹爪朝向夹取并搬运白杯，参照视频 10.067 s 显示白杯已到桌中央且夹爪张开；该参照仅用于确认存在成功接触方案。" + } + ], + "gap_zh": "无状态日志与接触力读数，无法精确判定滑脱时的接触力、摩擦或夹持深度，也无法独立量出逐轴中心偏差；评分器未报告两项原生距离指标，均填 null。视频已清楚显示杯子落到桌下，足以判定节点始终未达成。" + }, + "summary_zh": "机器人尝试夹住白杯杯沿并上提，但没有将杯子放到桌中央，最终节点为 0/1。视频约 27.8 s 杯子从局部杯沿夹持中滑脱，随后越过桌边落到地面，直到视频 29.467 s 仍未恢复；根因判断为抓取和接触设计未能稳定承载杯子。缺少状态日志与接触力读数，无法进一步区分具体力学因素。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（操作中，视频约27.8 s杯子滑脱落桌）、没保持住与抓取和接触设计的判断与视频和日志一致，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": "2026-10-30T02:46:38Z", + "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/robolab-white-mug-in-center-of-table-i00-standard--9zamfva/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-standard--9zamfva/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb26023ed136844c205fe0d4416a20e1c65f61ba3577f635fcc1bca530b9e41b", + "video_sha256": "77d6996d760762c1a45d286457ba852dadff1cea098d144478a34a85dfff2291", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--bpr2vv3.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--bpr2vv3.json new file mode 100644 index 0000000000000000000000000000000000000000..fc15b69d79c3e1b725db50b67a8c08f0903007b8 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--bpr2vv3.json @@ -0,0 +1,178 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--bpr2vv3", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1286, + "sim_steps": 1286, + "physics_steps": 10288, + "steps": 53, + "elapsed_s": 845.1, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.264, + "peak_processes": 10, + "peak_disk_gb": 0.287, + "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/robolab-white-mug-in-center-of-table-i00-standard--bpr2vv3/replay.mp4", + "duration_s": 85.8, + "fps": 15.0, + "frames": 1287, + "sha256": "a7a81b074d29cbb3ea7a6026e1eb2d83b9e16d7d73c038e4ede5b8c78f933d8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [ + [ + 85.73, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的两幅外部视角中，白杯在靠机器人一侧的桌边，黑色手机后方的桌中央空处尚无杯子，初始不满足居中条件。" + }, + { + "t": 80.4, + "log_step": 33, + "text_zh": "观察：视频 79.2–80.8 s，机器人二指夹爪夹住白杯杯沿向上提起，原位置变空，白杯随夹爪离开桌面；视频 81.2–84.0 s，白杯保持在夹爪中并向黑色手机后方的中央空处移动。log step 33 的机器人调用提交提杯、搬运、下降和开爪轨迹，与所见动作顺序一致。" + }, + { + "t": 85.733, + "log_step": null, + "text_zh": "观察：逐帧检查视频 84.8–85.733 s，白杯在桌中央下降，视频 85.667 s 夹爪仍夹着杯沿，视频 85.733 s 的末帧可见两指张开、与杯壁分离，白杯留在黑色手机后方的桌面中央。首次达成时间标为视频约 85.73 s，精度约一帧。" + }, + { + "t": 85.733, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、live_success=1、replay_success=1 且 live_matches_replay=1，与视频 85.733 s 的落杯开爪末态一致，支持该末态满足含把手包围盒中心逐轴不超过 0.05 米、接触桌面及两指脱离的联合验收。无状态日志，不能仅凭图像独立量出精确距离或接触阈值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 79.2–84.0 s，Panda 单臂的 Robotiq 二指夹爪以一指在杯内、一指在杯外的相向接触夹住白杯杯沿，提起并搬运；视频 85.733 s 两指张开释放白杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人夹住白杯杯沿，提离原位并搬到黑色手机后方的桌中央，视频约 85.73 s 松爪后完成唯一目标节点，最终进度为 1/1。评分器的实时及回放结果均为成功，录像末态与之相符，无失败断点。无状态日志，精确的逐轴 5 厘米容差及接触条件依评分器成功结果确认，两项原生距离指标均未报告。", + "conf": 9, + "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，唯一目标节点 mug_at_table_center 在视频末尾（约 85.7 s）达成，与帧及评分器 success/live_success/replay_success 一致；初始杯不在中央，无失败断点，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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"catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 3897, + "sim_steps": 3897, + "physics_steps": 31176, + "steps": 2910, + "elapsed_s": 5365.8, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-standard--dqvchzm/replay.mp4", + "duration_s": 259.867, + "fps": 15.0, + "frames": 3898, + "sha256": "8c7a8950cb554ca3e11f12cb944b0b06cbbc07eeb8c3172ec2ed44f96405222c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯直立在靠机器人一侧的桌边，远离黑色手机后方的桌中央空处，初态未居中。" + }, + { + "t": 28.4, + "log_step": 40, + "text_zh": "观察：视频 27.9–28.4 s，机器人夹爪夹着杯沿上升，杯底短暂离开桌面，随后杯子从继续上升的夹爪中滑下；视频 28.7 s 已落回原处附近。log step 40 的服务记录为闭爪提升，control_steps 414–430；按任务文本的15 Hz控制率映射为视频 27.6–28.67 s，与所查提升和落回画面一致。log step 42 中agent自述杯留在桌面，未采用该说法否认这次短暂提升。" + }, + { + "t": 77.0, + "log_step": 98, + "text_zh": "观察：视频 74.0–79.0 s，机器人侧向夹爪接近杯身并将白杯顶倒；杯子仍在靠机器人侧的桌面，未进入中央空处。" + }, + { + "t": 245.0, + "log_step": 205, + "text_zh": "观察：视频 140.0–146.0 s、215.0–229.0 s及241.0–247.0 s，机器人用张开的夹爪推移侧躺白杯，杯子发生平移和转动。视频 253.0 s及258.8–259.6 s，白杯仍侧躺在果汁盒旁、黑色手机后方空处靠机器人的一侧，明显尚未推到桌中央；成功参考录像末尾的杯子则位于该中央空处。杯子侧躺本身不是失败判据。" + }, + { + "t": 259.6, + "log_step": null, + "text_zh": "推断：结合末段可见的居中不足与 inputs/run.json 的 live_success=0、replay_success=0、live_matches_replay=1，该单一目标最终为假；全过程未观察到同时满足居中、桌面接触和两指脱离的时段。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 27.9–28.4 s，Robotiq二指夹爪合拢夹住白杯杯沿并短暂提起白杯，随后白杯滑脱落回桌面；未形成持续搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 76.0–79.0 s，机器人侧向夹爪顶动并推倒白杯；视频 140.0–146.0 s、219.0–223.0 s和243.0–247.0 s，张开的夹爪从杯身侧面推移侧躺白杯。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 28.4, + "log_step": 40, + "where": "操作中", + "evidence_zh": "观察：视频 27.9–28.4 s，机器人为搬移白杯而闭爪上提，白杯短暂离桌后从夹爪滑脱，视频 28.7 s 落回原处附近；之后机器人反复夹取、改用滑推，但视频 258.8–259.6 s 白杯仍未居中。该放置步骤始终没有完成。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 28.4, + "log_step": 40, + "evidence_zh": "观察：视频 27.9–28.4 s，白杯随闭合夹爪短暂升起，随后杯沿相对手指向下滑移，杯子掉回桌面，夹爪继续空手上升；log step 40 的提升命令保持闭爪，没有计划松手。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 245.0, + "log_step": 205, + "evidence_zh": "观察：视频 243.0–247.0 s，机器人最后几次推移使侧躺白杯平移、转动，但视频 253.0 s和258.8–259.6 s 白杯仍在果汁盒旁、桌中央靠机器人一侧，未进入黑色手机后方的中央目标空处。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 28.4, + "log_step": 207, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 27.9–28.4 s 的闭爪提升未能持续承载白杯，后续推移也多次使杯子转动而未准确送到中央。log step 205 的脚本命令末端到(0.45,0,0.09)米，log step 207 读取服务本体感知为(0.429,0.017,0.068)米，关节驱动力矩读数包含−32.7及−12.0；视频 243.0–247.0 s 同期可见低位夹爪推杯，撤离后目标仍未居中。这些证据支持抓持和推移执行存在控制问题，但不足以区分接触设计、轨迹与反馈控制子类。" + } + ], + "gap_zh": "没有状态日志，也没有评分器报告的逐轴中心距离，无法给出精确距离和接触力；近距离末段部分手指与杯子的接触被遮挡，但居中不足在外部视角可见。初次滑脱和后续推移偏差可观察，夹持力、摩擦及控制器内部信息不足，根因只标控制总类。" + }, + "summary_zh": "机器人曾短暂抓起白杯，但在视频约 28.4 s 滑脱，随后侧向接近将杯子推倒并改为滑推，唯一节点“白杯放到桌中央”始终未达成，最终为0/1。视频 258.8–259.6 s 白杯仍侧躺在果汁盒旁、桌中央靠机器人一侧；抓持不能持续承载，后续推移也存在执行偏差。缺少状态日志及评分器逐轴距离，具体控制子类与精确接触力无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频起止及27.9 s、259.5 s帧：杯子初始靠机器人侧，末尾仍未居中，节点final=false、断点与现象均与画面一致；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": "2026-10-30T03:13:25Z", + "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": 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b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--gxfenk8.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--gxfenk8", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 6843, + "sim_steps": 6843, + "physics_steps": 54744, + "steps": 572, + "elapsed_s": 5309.1, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-standard--gxfenk8/replay.mp4", + "duration_s": 456.267, + "fps": 15.0, + "frames": 6844, + "sha256": "baeee115814b288a73c75470c7ad330acb6f67d22e81eb661495edae58e18b45" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，白杯直立在靠机器人一侧的桌边，黑色手机后方的桌面中央空处没有杯子，初始未居中。" + }, + { + "t": 38.0, + "log_step": 102, + "text_zh": "观察：视频 30.0–38.0 s，机器人二指夹爪在杯沿和把手附近夹住杯子并提离桌面，杯体随夹爪上升；视频 38.0 s 杯子仍在机器人附近且由夹爪持有，未满足接触桌面及脱离夹爪条件。" + }, + { + "t": 45.2, + "log_step": 109, + "text_zh": "观察：视频 44.8 s 杯子尚悬在夹爪下方；视频 45.2–46.0 s 机器人开始横向搬运时杯子脱离手指、落回桌面并侧倒，机器人空爪继续移动，杯子未到桌中央。log step 109 的脚本执行搬运并延续原夹爪命令，log step 112 中 agent 随后自述发现掉杯。" + }, + { + "t": 162.0, + "log_step": 140, + "text_zh": "观察：视频 140.0–161.0 s，机器人张开的夹爪用手指拨推侧倒的白杯，杯子仍在靠机器人一侧；视频 162.0–164.0 s 杯子越过桌子近边，进入机器人基座旁的灰色平台区域，桌中央仍为空。log step 139 的杯子坐标是 agent 自行处理深度图的估计，不用它替代录像中的位置。" + }, + { + "t": 456.2, + "log_step": null, + "text_zh": "观察：视频 192.0–378.0 s 的外部及腕部视角显示机器人继续在基座旁拨动杯子，未将它送回桌中央；视频 455.3 s、456.2 s，白杯仍留在与木桌分开的机器人基座旁灰色平台上，夹爪空着，目标放置状态未达成。评分器 live_success=0、replay_success=0、live_matches_replay=1 与上述录像一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 30.0–44.8 s，Panda 单臂的 Robotiq 二指夹爪一指进入杯口、另一指位于把手外侧，在杯沿/把手附近形成对向夹持并提起白杯，随后杯子滑脱。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 60.0–162.0 s，机器人用张开夹爪的手指拨推侧倒白杯，杯子沿桌面移动并最终进入基座旁平台；视频 192.0–378.0 s 又多次以指尖拨推杯沿或杯壁，使杯子转动、倾斜，但未搬回桌中央。这些接触依次发生于前述抓握之后。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mug_at_table_center", + "t": 45.2, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频 44.8–46.0 s，机器人正夹持白杯向桌中央搬运，白杯却从手指间滑脱，落回靠机器人一侧的桌面并侧倒；之后机器人改用推移，视频 162.0–164.0 s 杯子进入基座旁平台，至视频 456.2 s 仍未完成放置。log step 109 记录对应搬运脚本，log step 112 中 agent 自述杯子在搬运中掉落。" + }, + "unmet": { + "mug_at_table_center": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 45.2, + "log_step": 109, + "evidence_zh": "观察：视频 33.0–44.8 s 白杯已经离开桌面，由机器人夹爪夹在杯沿/把手附近悬持；视频 45.2 s 杯子开始脱离手指，视频 45.6–46.0 s 落到桌面并侧倒，而空夹爪继续横向运动。log step 109 的脚本延续原夹爪命令，并无计划张爪释放动作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：本次在杯沿/把手附近的局部夹持没有稳定约束杯体，提起后杯子相对夹爪转动，横向搬运一开始便滑脱，支持夹持接触与承载布局不稳。依据为视频 30.0–45.6 s 的夹持、悬挂及滑落；log step 101 的服务反馈夹爪开度为 0.0371 m，log step 102 提升后缩至 0.0142 m，log step 109 搬运后缩至 0.0018 m，且搬运脚本沿用闭合命令。可行替代有参考成功录像支持：参考视频 3.0–8.0 s 的杯沿夹持与低位搬运保持了杯子，inputs/oracle/oracle.json 报告该参考运行 success=1；该参考仅证明替代方案可行，不作为本次节点达成的证据。" + } + ], + "gap_zh": "本次没有状态日志，也没有手指与杯子的接触对、接触力或摩擦记录，无法精确分解滑脱的力学机制或量出含把手包围盒中心的逐轴误差；抓取设计根因为结合录像与服务开度反馈的推断。杯子始终明显偏离桌中央、末态位于木桌之外，节点未达成可由录像判断；两项原生距离指标未由评分器报告。" + }, + "summary_zh": "机器人夹住白杯杯沿/把手附近并短暂提离桌面，但在视频约 45.2 s 搬运起步时滑脱，随后推移也未完成唯一节点，进度始终为 0/1。视频 162.0–164.0 s 杯子进入基座旁平台，至视频 456.2 s 仍未回到桌中央；夹持几何未能稳定承载杯子是有录像和服务开度反馈支持的推断根因。没有状态及接触力日志，无法进一步核实精确接触点、滑脱力学机制和厘米级误差。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、末态杯子在基座旁平台、断点在搬运起步滑脱（视频约45 s）、接触与根因均与录像和log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": "2026-10-30T02:50:57Z", + "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/robolab-white-mug-in-center-of-table-i00-standard--gxfenk8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robolab-white-mug-in-center-of-table-i00-standard--gxfenk8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c4ee99ad247760e08c212f4f83bd9e1877491a5c2dfaa2546b188d33323f9f8f", + "video_sha256": "baeee115814b288a73c75470c7ad330acb6f67d22e81eb661495edae58e18b45", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--jpdorq3.json b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--jpdorq3.json new file mode 100644 index 0000000000000000000000000000000000000000..422093ddfd903c8bc3555bf8248a74657d360320 --- /dev/null +++ b/phase2/robolab/white_mug_in_center_of_table/trajectories/robolab-white-mug-in-center-of-table-i00-standard--jpdorq3.json @@ -0,0 +1,173 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--jpdorq3", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "replay_success": 1, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 2248, + "sim_steps": 2248, + "physics_steps": 17984, + "steps": 207, + "elapsed_s": 1966.4, + "video_rendered": 1, + "gpu_lost": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robolab-white-mug-in-center-of-table-i00-standard--jpdorq3/replay.mp4", + "duration_s": 149.933, + "fps": 15.0, + "frames": 2249, + "sha256": "bdbd854893ef711e5fb87d26e8b86c8afd7ff52eee53e7c13364279aac9f7cdb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "mug_at_table_center": { + "method": "visual", + "intervals": [ + [ + 149.867, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的正面外部视角中，白杯直立在靠机器人一侧的桌边，明显偏离桌中央，初态未达成。" + }, + { + "t": 84, + "log_step": null, + "text_zh": "观察：视频 60.0、64.0、68.0、72.0、76.0、80.0、84.0 s，机器人用闭合夹爪抵住侧倒白杯并沿桌面推移；杯子仍在橙汁盒附近，尚未放到桌中央。" + }, + { + "t": 142, + "log_step": 125, + "text_zh": "观察：视频 137.0–143.0 s，机器人以倾斜夹爪夹住杯沿，白杯从手机与魔方附近离开原位，随夹爪移动到手机后方的中央空处；杯子仍由夹爪夹持，未完成释放型放置。" + }, + { + "t": 149.867, + "log_step": 132, + "text_zh": "观察：视频 148.0–149.87 s，机器人降低白杯；最后一秒逐帧可见杯子到达桌中央并落桌，腕部视角在视频 149.8–149.87 s 可见两指张开，与杯沿分离。log step 131 提交开爪，log step 132 的服务返回 RELEASE True success、done=True、reason=success、control_steps=2248；inputs/run.json 评分字段 live_success=1、replay_success=1、live_matches_replay=1。" + }, + { + "t": 149.867, + "log_step": 132, + "text_zh": "推断：首次达成时间取最后开爪帧附近的视频 149.87 s（约有 0.1 s 的视觉不确定性）；末帧位置与落桌、松爪表现支持放置完成，精确逐轴 5 厘米及接触判定由服务成功结果补充确认，无状态日志可独立量出偏差值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 60.0–84.0 s，Panda 单臂的 Robotiq 夹爪以闭合手指从侧面抵推白杯，使侧倒的杯子沿桌面滑移、转动；这是最终杯沿夹取之前的接触阶段。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 137.0–149.73 s，Robotiq 两指在白杯杯沿内外形成夹持，随后白杯随夹爪离开原位并移到中央；视频 149.8–149.87 s 张开释放。此阶段发生在上述推移之后。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人先夹取和推移白杯，随后斜夹杯沿搬运，在视频约 149.87 s 将白杯放到桌中央并张开夹爪，最终完成 1/1 节点；服务与重放均判成功，无失败断点。推断：末帧与成功判定一致；本次无状态日志，含把手包围盒的精确逐轴偏差及接触阈值无法独立复算，两个原生距离指标未被评分字段报告。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，单节点 mug_at_table_center 在视频约 149.87 s 首次达成；末帧（视频 149.87 s）腕部视角两指张开、杯子落桌、位于手机后方中央，与时间、final=true、接触标注一致，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": "2026-10-30T02:46:00Z", + "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/robolab-white-mug-in-center-of-table-i00-standard--jpdorq3/03_label" + 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@@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robolab-white-mug-in-center-of-table-i00-standard--ls7trdy", + "taskKey": "robolab/white_mug_in_center_of_table", + "dag_sha256": "cdc4092a6a46f0a2351a66a8221c974542746b3f43d153bff71d90a1fc4cf77d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 1937, + "sim_steps": 1937, + "physics_steps": 15496, + "steps": 78, + "elapsed_s": 2098.1, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "replay_timed_out": 0, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + 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57.0–63.0 s 夹爪在白杯侧面闭合；外部视角视频 78.0–88.2 s 白杯随夹爪小幅移动，腕部视角视频 86.0–88.6 s 可见两指夹住杯沿，杯子随之倾斜。白杯始终停留在靠机器人一侧，没有到达手机后方的桌面中央空处。" + }, + { + "t": 88.9, + "log_step": null, + "text_zh": "观察：腕部视角视频 86.0–88.6 s 杯沿夹在两指之间；视频约 88.7–88.9 s 夹爪转动，白杯脱离两指并翻落，外部视角视频 89.1–89.4 s 可见白杯侧躺在桌面上；视频 92.5–93.0 s 机器人还碰倒了橙汁盒。" + }, + { + "t": 129.13, + "log_step": 93, + "text_zh": "观察：视频 95.0–129.13 s 白杯侧躺在靠机器人一侧，末帧仍明显偏离桌中央，夹爪在杯旁，未出现居中放置。log step 93 的服务状态为 control_steps=1937、done=False；评分器 live_success=0、replay_success=0、live_matches_replay=1，与可见未达状态一致；不使用 agent 自己的圆柱拟合值作为精确位置测量。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Panda 单臂的 Robotiq 二指夹爪在视频 57.0–63.0 s 从白杯侧面接触、闭合；腕部视角视频 86.0–88.6 s 可见两指夹住杯沿，杯子随夹爪倾斜并小幅移动，视频约 88.7–88.9 s 脱手翻落。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_table_center_abs_dx", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "mug_table_center_abs_dy", + "unit": "m", 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而反馈 y=-0.138 m；log step 91 的代码用单行切换夹爪朝向后继续下降、推移，视频约 88.7–88.9 s 可见夹爪急转、杯沿夹持丢失及白杯翻落，后续仍未完成向中央的推进。此外 log step 87 的函数定义顺序错误和 log step 89 超过每次 50 行限制的提交报错，使相应推移程序未执行。上述证据支持控制层问题，但不足以唯一分清接触几何、逆解或跟踪子类。", + "source_zh": "日志 / 视频", + "note_zh": "包含 agent 自有控制脚本异常；按暂行 DECISIONS.md D38 归入控制，不归为外部基础设施错误。" + } + ], + "gap_zh": "没有状态日志，评分器未报告两项原生中心距离，不能给出精确米制误差或逐帧接触力；视频可明确判断杯子远离中心、曾被夹住杯沿且随后脱手翻落。日志不足以把杯旁转动与某一提交的具体行一一对应，因此断点只给视频锚点，控制根因不细分；agent 在 log step 94 自述“时间用完”，但 run.json 的 wall_s=2170、time_limit_s=3600，不能把该自述当作实际预算耗尽的证据。" + }, + "summary_zh": "机器人夹住白杯杯沿并带着杯子小幅移动，杯子始终位于靠机器人一侧，全程未达到“白杯放到桌中央”，最终为 0/1。视频约 88.7–88.9 s 夹爪转动时白杯脱手翻落，至视频 129.13 s 末帧仍远离桌中央；执行反馈及脚本报错支持控制层问题。没有状态日志或评分器原生距离，无法精确测量中心误差及进一步确定控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "未达成与最终 0/1 正确；但 86–88.7 s 腕部视角显示夹爪两指夹住杯沿、杯子被带着倾斜移动后掉落，标注写成“推/扫、未见夹住”并把脱手读成“碰倒”，接触方式和现象类别有误。", 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